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Bio-inspired Assistive Robotics: Service Dogs as a Model for Human-Robot Interaction and Mobile Manipulation
(Georgia Institute of Technology, 2008-10)
Service dogs have successfully provided assistance to thousands of motor-impaired people worldwide. As a step towards the creation of robots that provide comparable assistance, we present a biologically inspired robot ...
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 ...
Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene
(Georgia Institute of Technology, 2010-10)
This paper describes the design and implementation of a behavior that allows a robot with a compliant arm to perform wiping motions that are involved in bed baths. A laser-based operator-selection interface enables an ...
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 ...
A Clickable World: Behavior Selection Through Pointing and Context for Mobile Manipulation
(Georgia Institute of Technology, 2008-09)
We present a new behavior selection system for human-robot interaction that maps virtual buttons overlaid on the physical environment to the robotpsilas behaviors, thereby creating a clickable world. The user clicks on a ...
Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control
(Georgia Institute of Technology, 2010-05)
Previously, we have presented an implementation of impedance control inspired by the Equilibrium Point Hypothesis that we refer to as equilibrium point control (EPC). We have demonstrated that EPC can enable a robot in a ...
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 ...
Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator
(Georgia Institute of Technology, 2009)
Delivering an object to a user would be a generally useful capability for service robots. Within this paper, we look at this capability in the context of assistive object retrieval for motor-impaired users. We first describe ...
Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm
(Georgia Institute of Technology, 2012-10)
In this paper, we demonstrate data-driven inference of mechanical properties of objects using a tactile sensor array (skin) covering a robot's forearm. We focus on the mobility (sliding vs. fixed), compliance (soft vs. ...