Now showing items 30-49 of 51

    • Older Adults Medication Management in the Home: How can Robots Help? 

      Prakash, Akanksha; Beer, Jenay M.; Deyle, Travis; Smarr, Cory-Ann; Chen, Tiffany L.; Mitzner, Tracy L.; Kemp, Charles C.; Rogers, Wendy A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Operating articulated objects based on experience 

      Sturm, Jürgen; Jain, Advait; Stachniss, Cyrill; Kemp, Charles C.; Burgard, Wolfram (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates ...
    • Perceiving Clutter and Surfaces for Object Placement in Indoor Environments 

      Schuster, Martin J.; Okerman, Jason; Nguyen, Hai; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      Handheld manipulable objects can often be found on flat surfaces within human environments. Researchers have previously demonstrated that perceptually segmenting a flat surface from the objects resting on it can enable ...
    • A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation 

      Kemp, Charles C.; Anderson, Cressel D.; Nguyen, Hai; Trevor, Alexander J. B.; Xu, Zhe (Georgia Institute of TechnologyAssociation for Computing Machinery (ACM), 2008-03)
      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 ...
    • PPS-Tags: Physical, Perceptual and Semantic Tags for Autonomous Mobile Manipulation 

      Nguyen, Hai; Deyle, Travis; Reynolds, Matt S.; Kemp, Charles C. (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 ...
    • Probabilistic UHF RFID tag pose estimation with multiple antennas and a multipath RF propagation 

      Deyle, Travis; Kemp, Charles C.; Reynolds, Matt S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Pulling Open Novel Doors and Drawers with Equilibrium Point Control 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      A large variety of doors and drawers can be found within human environments. Humans regularly operate these mechanisms without difficulty, even if they have not previously interacted with a particular door or drawer. In ...
    • Rapid Categorization of Object Properties from Incidental Contact with a Tactile Sensing Robot Arm, 

      Bhattacharjee, Tapomayukh; Kapusta, Ariel; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      We demonstrate that data-driven methods can be used to rapidly categorize objects encountered through incidental contact on a robot arm. Allowing incidental contact with surrounding objects has benefits during manipulation ...
    • Reaching in clutter with whole-arm tactile sensing 

      Jain, Advait; Killpack, Marc D.; Edsinger, Aaron; Kemp, Charles C. (Georgia Institute of TechnologySage, 2013-04)
      Clutter creates challenges for robot manipulation, including a lack of non-contact trajectories and reduced visibility for line-of-sight sensors. We demonstrate that robots can use whole-arm tactile sensing to perceive ...
    • RF vision: RFID receive signal strength indicator (RSSI) images for sensor fusion and mobile manipulation 

      Deyle, Travis; Nguyen, Hai; Reynolds, Matt S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • RFID-Guided Robots for Pervasive Automation 

      Deyle, Travis; Nguyen, Hai; Reynolds, Matt S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning 

      Bhattacharjee, Tapomayukh; Grice, Phillip M.; Kapusta, Ariel; Killpack, Marc D.; Park, Daehyung; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      We present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control [1], learned initial conditions [2], tactile recognition of object ...
    • Robots for Humanity: A Case Study in Assistive Mobile Manipulation 

      Chen, Tiffany L.; Ciocarlie, Matei; Cousins, Steve; Grice, Phillip M.; Hawkins, Kelsey; Hsiao, Kaijen; Kemp, Charles C.; King, Chih-Hung; Lazewatsky, Daniel A.; Nguyen, Hai; Paepcke, Andreas; Pantofaru, Caroline; Smart, William D.; Takayama, Leila (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-03)
      Assistive mobile manipulators have the potential to one day serve as surrogates and helpers for people with disabilities, giving them the freedom to perform tasks such as scratching an itch, picking up a cup, or socializing ...
    • ROS Commander (ROSCo): Behavior Creation for Home Robots 

      Nguyen, Hai; Ciocarlie, Matei; Hsiao, Kaijen; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      We introduce ROS Commander (ROSCo), an open source system that enables expert users to construct, share, and deploy robot behaviors for home robots. A user builds a behavior in the form of a Hierarchical Finite State Machine ...
    • Tactile Sensing over Articulated Joints with Stretchable Sensors 

      Bhattacharjee, Tapomayukh; Jain, Advait; Vaish, Sarvagya; Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      Biological organisms benefit from tactile sensing across the entire surfaces of their bodies. Robots may also be able to benefit from this type of sensing, but fully covering a robot with robust and capable tactile sensors ...
    • Touched By a Robot: An Investigation of Subjective Responses to Robot-initiated Touch 

      Chen, Tiffany L.; King, Chih-Hung; Thomaz, Andrea L.; Kemp, Charles C. (Georgia Institute of TechnologyACM Press, 2011-03)
      By initiating physical contact with people, robots can be more useful. For example, a robotic caregiver might make contact to provide physical assistance or facilitate communication. So as to better understand how people ...
    • Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene 

      King, Chih-Hung; Chen, Tiffany L.; Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Towards Assistive Feeding with a General-Purpose Mobile Manipulator 

      Park, Daehyung; Kim, You Keun; Erickson, Zackory; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
      General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a ...
    • Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera 

      Killpack, Marc D.; Deyle, Travis; Anderson, Cressel D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      An omnidirectional Mecanum base allows for more flexible mobile manipulation. However, slipping of the Mecanum wheels results in poor dead-reckoning estimates from wheel encoders, limiting the accuracy and overall utility ...