Now showing items 1-12 of 12

    • 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, ...
    • 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 ...
    • 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 ...
    • Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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. ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...