Now showing items 1-20 of 28

    • 1000 Trials: An empirically validated end effector that robustly grasps objects from the floor 

      Xu, Zhe; Deyle, Travis; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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, ...
    • Autonomous Active Learning of Task-Relevant Features for Mobile Manipulation 

      Nguyen, Hai; Kemp, Charles C. (Georgia Institute of Technology, 2011)
      We present an active learning approach that enables a mobile manipulator to autonomously learn task-relevant features. For a given behavior, our system trains a Support Vector Machine (SVM) that predicts the 3D locations ...
    • Behavior-Based Door Opening with Equilibrium Point Control 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of Technology, 2009-06)
      Within this paper we present a set of behaviors that enable a mobile manipulator to reliably open a variety of doors. After a user designates a location within 20cm of the door handle, the robot autonomously locates the ...
    • Behaviors for Robust Door Opening and Doorway Traversal with a Force-Sensing Mobile Manipulator 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of Technology, 2008-06)
      Fully autonomous robots will often need to open doors and traverse doorways in order to freely operate within human environments, and assistive robots that open doors on command would potentially benefit the motor impaired. ...
    • Bio-inspired Assistive Robotics: Service Dogs as a Model for Human-Robot Interaction and Mobile Manipulation 

      Nguyen, Hai; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 Clickable World: Behavior Selection Through Pointing and Context for Mobile Manipulation 

      Nguyen, Hai; Jain, Advait; Anderson, Cressel D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • The complex structure of simple devices: A survey of trajectories and forces that open doors and drawers 

      Jain, Advait; Nguyen, Hai; Rath, Mrinal; Okerman, Jason; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-09)
      Instrumental activities of daily living (IADLs) involve physical interactions with diverse mechanical systems found within human environments. In this paper, we describe our efforts to capture the everyday mechanics of ...
    • Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor 

      Fan, Zhengqin; King, Chih-Hung; Darb, Hamza; Kemp, Charles C. (Georgia Institute of Technology, 2010-06)
      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 ...
    • Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task, 

      King, Chih-Hung; Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2010-07)
      Teleoperated assistive robots with compliant arms may be well-suited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and ...
    • EL-E: An Assistive Mobile Manipulator that Autonomously Fetches Objects from Flat Surfaces 

      Nguyen, Hai; Anderson, Cressel D.; Trevor, Alexander J. B.; Jain, Advait; Xu, Zhe; Kemp, Charles C. (Georgia Institute of Technology, 2008-03-12)
      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 ...
    • EL-E: An Assistive Mobile Manipulator that Autonomously Fetches Objects from Flat Surfaces 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologySpringer Netherlands, 2010-01-01)
      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 ...
    • A foveated passive UHF RFID system for mobile manipulation 

      Deyle, Travis; Anderson, Cressel D.; Kemp, Charles C.; Reynolds, Matt S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator 

      Choi, Young Sang; Chen, Tiffany L.; Jain, Advait; Anderson, Cressel D.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Human-Robot Interaction Studies for Autonomous Mobile Manipulation for the Motor Impaired 

      Choi, Young Sang; Anderson, Cressel D.; Deyle, Travis; Kemp, Charles C. (Georgia Institute of TechnologyAAAI Press, 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. ...
    • Laser Pointers and a Touch Screen: Intuitive Interfaces for Autonomous Mobile Manipulation for the Motor Impaired 

      Choi, Young Sang; Anderson, Cressel D.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyAssociation for Computing Machinery (ACM), 2008-10)
      El-E (“Ellie”) is a prototype assistive robot designed to help people with severe motor impairments manipulate everyday objects. When given a 3D location, El-E can autonomously approach the location and pick up a nearby ...
    • Lead Me by the Hand: Evaluation of a Direct Physical Interface for Nursing Assistant Robots 

      Chen, Tiffany L.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-03)
      When a user is in close proximity to a robot, physical contact becomes a potentially valuable channel for communication. People often use direct physical contact to guide a person to a desired location (e.g., leading a ...
    • 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 ...