IRIM Research and Technical Reports: Recent submissions

Now showing items 1-20 of 27

    • Autobed: A Web-Controlled Robotic Bed 

      Grice, Phillip M.; Chitalia, Yash; Rich, Megan; Clever, Henry; Evans, Henry; Evans, Jane; Kemp, Charles C. (Georgia Institute of Technology, 2016-02)
      We (the Healthcare Robotics Lab at Georgia Tech) have developed an additional module for an Invacare fully electric hospital bed (Model 5410IVC) so that the bed can be controlled from a web-based interface. This module ...

    • Supplementary Material to: IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation 

      Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (Georgia Institute of Technology, 2015-05-30)

    • Goal Reasoning: Papers from the ACS Workshop 

      Aha, David W.; Anderson, Tory S.; Bengfort, Benjamin; Burstein, Mark; Cerys, Dan; Coman, Alexandra; Cox, Michael T.; Dannenhauer, Dustin; Floyd, Michael W.; Gillespie, Kellen; Goel, Ashok K.; Goldman, Robert P.; Jhala, Arnav; Kuter, Ugur; Leece, Michael; Maher, Mary Lou; Martie, Lee; Merrick, Kathryn; Molineaux, Matthew; Muñoz-Avila, Héctor; Roberts, Mark; Robertson, Paul; Rugaber, Spencer; Samsonovich, Alexei; Vattam, Swaroop S.; Wang, Bing; Wilson, Mark (Georgia Institute of Technology, 2015-05-28)
      This technical report contains the 14 accepted papers presented at the Workshop on Goal Reasoning, which was held as part of the 2015 Conference on Advances in Cognitive Systems (ACS-15) in Atlanta, Georgia on 28 May ...

    • The Effect of Robot Performance on Human-­‐Robot Trust in Time-­‐Critical Situations 

      Robinette, Paul; Wagner, Alan R.; Howard, Ayanna M. (2015-01)
      We vary the ability of robots to mitigate a participant’s risk in a navigation guidance task to determine the effect this has on the participant’s trust in the robot in a second round. A significant loss of trust was ...

    • Towards Stable Balancing 

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

    • Gravity and Drift in Force/Torque Measurements 

      Erdogan, Can; Zafar, Munzir; Stilman, Mike (2014)

    • Krang: Center of Mass Estimation 

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

    • Krang Kinematics: A Denavit-Hartenberg Parameterization 

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

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

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

    • 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 ...

    • 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)

    • 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 ...

    • 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 ...

    • 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 ...

    • 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 ...

    • Course development: software engineering for robots 

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