Objects within human environments are usually found on flat surfaces that are orthogonal to gravity, such as floors, tables, and shelves. We first present a new assistive robot that is explicitly designed to take advantage ...

Assistive mobile robots that autonomously manipulate objects within everyday settings have the potential to improve the lives of the elderly, injured, and disabled. Within this paper, we present the most recent version of ...

We present a novel interface for human-robot interaction that enables a human to intuitively and unambiguously se- lect a 3D location in the world and communicate it to a mo- bile robot. The human points at a location of ...

Physical human-robot interaction has the potential to be useful in a number of domains, but this will depend on how people respond to the robot’s actions. For some domains, such as healthcare, a robot is likely to initiate ...

Retrieval of dropped objects has consistently been ranked as a high priority task for assistive robots. We have previously presented a dustpan-inspired end effector capable of robustly grasping objects from the floor. In ...