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A foveated passive UHF RFID system for mobile manipulation
(Georgia Institute of Technology, 2008-09)
We present a novel antenna and system architecture for mobile manipulation based on passive RFID technology operating in the 850 MHz - 950 MHz ultra-high-frequency (UHF) spectrum. This system exploits the electromagnetic ...
PPS-Tags: Physical, Perceptual and Semantic Tags for Autonomous Mobile Manipulation
(Georgia Institute of Technology, 2009-10)
For many promising application areas, autonomous mobile manipulators do not yet exhibit sufficiently robust performance. We propose the use of tags applied to task-relevant locations in human environments in order to help ...
Finding and Navigating to Household Objects with UHF RFID Tags by Optimizing RF Signal Strength
(Georgia Institute of Technology, 2014-09)
We address the challenge of finding and navigating
to an object with an attached ultra-high frequency radio-
frequency identification (UHF RFID) tag. With current off-the-
shelf technology, one can affix ...
In-Hand Radio Frequency Identification (RFID) for Robotic Manipulation
(Georgia Institute of Technology, 2013-05)
We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed ...
RF vision: RFID receive signal strength indicator (RSSI) images for sensor fusion and mobile manipulation
(Georgia Institute of Technology, 2009-10)
In this work we present a set of integrated methods that enable an RFID-enabled mobile manipulator to approach and grasp an object to which a self-adhesive passive (battery-free) UHF RFID tag has been affixed. Our primary ...
Probabilistic UHF RFID tag pose estimation with multiple antennas and a multipath RF propagation
(Georgia Institute of Technology, 2008-09)
We present a novel particle filter implementation for estimating the pose of tags in the environment with respect to an RFID-equipped robot. This particle filter combines signals from a specially designed RFID antenna ...
Human-Robot Interaction Studies for Autonomous Mobile Manipulation for the Motor Impaired
(Georgia Institute of Technology, 2009-03)
We are developing an autonomous mobile assistive robot named El-E to help individuals with severe motor impairments by performing various object manipulation tasks such as fetching, transporting, placing, and delivering. ...
RFID-Guided Robots for Pervasive Automation
(Georgia Institute of Technology, 2010-01-15)
Passive UHF RFID tags are well matched to robots' needs. Unlike lowfrequency (LF) and high-frequency (HF) RFID tags, passive UHF RFID tags are readable from across a room, enabling a mobile robot to efficiently discover ...
1000 Trials: An empirically validated end effector that robustly grasps objects from the floor
(Georgia Institute of Technology, 2009-05)
Unstructured, human environments present great challenges and opportunities for robotic manipulation and grasping. Robots that reliably grasp household objects with unknown or uncertain properties would be especially useful, ...
Older Adults Medication Management in the Home: How can Robots Help?
(Georgia Institute of Technology, 2013-03)
Successful management of medications is critical to maintaining healthy and independent living for older adults. However, medication non-adherence is a common problem with a high risk for severe consequences [5], which can ...