Browsing IRIM Research and Technical Reports by Issue Date

Now showing items 1-20 of 27

    • A List of Household Objects for Robotic Retrieval Prioritized by People with ALS (Version 092008) 

      Choi, Young Sang; Deyle, Travis; Kemp, Charles C. (Georgia Institute of TechnologyarXiv.org, 2008-09)
      This technical report is designed to serve as a citable reference for the original prioritized object list that the Healthcare Robotics Lab at Georgia Tech released on its website in September of 2008. It is also expected ...

    • The Motion Grammar: Linguistic Perception, Planning, and Control 

      Dantam, Neil; Stilman, Mike (Georgia Institute of Technology, 2010)
      We present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments ...

    • Equations of Motion for Dynamically Stable Mobile Manipulators 

      Dantam, Neil; Kolhe, Pushkar; Stilman, Mike (Georgia Institute of Technology, 2010-12-14)

    • Course development: software engineering for robots 

      Christensen, Henrik I. (Georgia Institute of Technology, 2010-12-17)

    • Efficient Opening Detection 

      Levihn, Martin; Stilman, Mike (Georgia Institute of Technology, 2011)
      We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation ...

    • Older Adults' Acceptance of Assistive Robots for the Home 

      Mitzner, Tracy L.; Smarr, Cory-Ann; Beer, Jenay M.; Chen, Tiffany L.; Springman, Jennifer Megan; Prakash, Akanksha; Kemp, Charles C.; Rogers, Wendy A. (Georgia Institute of Technology, 2011)

    • Time-Optimal Path Following with Bounded Joint Accelerations and Velocities 

      Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2011)
      This paper presents a method to generate the time-optimal trajectroy that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path ...

    • Turning Paths Into Trajectories Using Parabolic Blends 

      Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2011)
      We present an approach for converting a path of multiple continuous linear segments into a trajectory that satisfies velocity and acceleration constraints and closely follows the given path without coming to a complete ...

    • Ach: IPC for Real-Time Robot Control 

      Dantam, Neil; Stilman, Mike (Georgia Institute of Technology, 2011)
      We present a new Inter-Process Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating perception, control drivers, and algorithms in real-time systems that sample data from physical processes. ...

    • Design and Development of a Dynamically-Balancing Holonomic Robot 

      Reynolds-Haertle, Saul; Stilman, Mike (Georgia Institute of Technology, 2011)
      This paper describes the design, control, and construction of Golem Wing, the first vehicle which both balances dynamically and has entirely holonomic ground movement. A nonstandard linear arrangement of mecanum wheels ...

    • Dynamic Characterization of KUKA Light-Weight Robot Manipulators 

      Huckaby, Jacob; Christensen, Henrik I. (Georgia Institute of Technology, 2012)
      High precision tasks are an important part of the manufacturing industry. For example, safety constraints require that some manufacturing must be done to a very high degree of accuracy. Robotics and automation are well ...

    • Algorithms for Linguistic Robot Policy Inference from Demonstration of Assembly Tasks 

      Dantam, Neil; Essa, Irfan; Stilman, Mike (Georgia Institute of Technology, 2012)
      We describe several algorithms used for the inference of linguistic robot policies from human demonstration. First, tracking and match objects using the Hungarian Algorithm. Then, we convert Regular Expressions to ...

    • Detecting Partially Occluded Objects via Segmentation and Validation 

      Levihn, Martin; Dutton, Matthew; Trevor, Alexander J. B.; Stilman, Mike (Georgia Institute of Technology, 2012)
      This paper presents a novel algorithm: Verfied Partial Object Detector (VPOD) for accurate detection of partially occluded objects such as furniture in 3D point clouds. VPOD is implemented and validated on real sensor ...

    • Mobile Manipulation in Domestic Environments Using A Low Degree of Freedom Manipulator 

      Huckaby, Jacob; Nieto-Granda, Carlos; Rogers, John G.; Trevor, Alexander J. B.; Cosgun, Akansel; Christensen, Henrik I. (Georgia Institute of Technology, 2012)
      We present a mobile manipulation system used by the Georgia Tech team in the RoboCup@Home 2010 competition. An overview of the system is provided, including the approach taken for manipulation, SLAM, object detection, ...

    • Diverse Workspace Path Planning for Robot Manipulators 

      Quispe, Ana Huamán; Stilman, Mike (Georgia Institute of Technology, 2012-07)
      We present a novel algorithm that generates a set of diverse workspace paths for manipulators. By considering more than one possible path we give our manipulator the flexibility to choose from many possible ways to execute ...

    • Factor Graphs and GTSAM: A Hands-on Introduction 

      Dellaert, Frank (Georgia Institute of Technology, 2012-09)
      In this document I provide a hands-on introduction to both factor graphs and GTSAM. Factor graphs are graphical models (Koller and Friedman, 2009) that are well suited to modeling complex estimation problems, such as ...

    • Rapid Loop Updates 

      Indelman, Vadim; Dellaert, Frank (Georgia Institute of Technology, 2012-09-11)

    • Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+ 

      O’Flaherty, Rowland; Vieira, Peter; Grey, Michael; Oh, Paul; Bobick, Aaron; Egerstedt, Magnus; Stilman, Mike (Georgia Institute of Technology, 2013)
      This paper derives the forward and inverse kinematics of a humanoid robot. The specific humanoid that the derivation is for is a robot with 27 degrees of freedom but the procedure can be easily applied to other similar ...

    • Analytic Inverse Kinematics for the Universal Robots UR-5/UR-10 Arms 

      Hawkins, Kelsey P. (Georgia Institute of Technology, 2013-12-07)

    • Krang: Center of Mass Estimation 

      Zafar, Munzir; Erdogan, Can; Volle, Kyle; Stilman, Mike (Georgia Institute of Technology, 2014)