Now showing items 1-20 of 22

    • Analysis of poles and zeros for tapered link designs 

      Girvin, Douglas L.; Book, Wayne John (Georgia Institute of TechnologyWorld Scientific Press, 2003)
      This chapter analyzes the pole and zero locations of a linearly-tapered Euler-Bernoulli beam pinned at one end and free at the other end. Of particular interest is the location of zeros of the transfer function from torque ...
    • An Approach for Mapping Kinematic Task Specifications Into a Manipulator Design 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE, 1991)
      The Reconfigurable Modular Manipulator System, (RMMS) consists of modular links and joints which can be assembled into many manipulator configurations. This capability allows the RMMS to be rapidly reconfigured in order ...
    • 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 ...
    • Design strategies for high-speed lightweight robots 

      Book, Wayne John; Hastings, Gordon Greene; Alberts, Thomas Edward (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1986-09)
      Industrial robots today can lift objects no. heavier than about five percent of their own weight. Imagine a robotic weight lifter competing against the current Olympic human record of 750 lb. By today's standards, that ...
    • Experiments Relating Task and Manipulator Characteristics to Performance 

      Book, Wayne John; Field, Lawrence (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1977-09)
      A review of literature shows that little progress has been made towards quantifying the manipulator characteristics necessary to provide a given performance at a given task. Controlled single factor experiments can be ...
    • Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration 

      Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-06)
      The remediation and management of various nuclear sites will require inspection, removal and surveillance operations within many waste storage tanks. Due to the large dimensions, many tasks will be performed with a small ...
    • 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. ...
    • A List of Household Objects for Robotic Retrieval Prioritized by People with ALS 

      Choi, Young Sang; Deyle, Travis; Chen, Tiffany L.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-06)
      Studies have consistently shown that object retrieval would be a valuable task for assistive robots to perform, yet detailed information about the needs of patients with respect to this task has been lacking. In this paper, ...
    • 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 ...
    • Mapping Tasks into Fault Tolerant Manipulators 

      Paredis, Chris; Khosla, Pradeep K. (Georgia Institute of TechnologyIEEE Computer Society, 1994-05)
      The application of robots in critical missions in hazardous environments requires the development of reliable or fault tolerant manipulators. In this paper, we define fault tolerance as the ability to continue the performance ...
    • Models of Manipulators and Manipulation 

      Book, Wayne John (Georgia Institute of TechnologyUniversity of Florida, 1978-02)
      As a complex and expensive mechanical system, a manipulator, whether commanded by man or computer, is often better studied by and developed from a mathematical model of the system than by direct observation. Furthermore ...
    • Motion planning for redundant manipulators and other high degree-of-freedom systems 

      Keselman, Leo (Georgia Institute of Technology, 2014-04-10)
      Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems ...
    • A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet 

      Lane, Hobson; Love, Lonnie J.; Magee, David P.; Obergfell, Klaus; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-06)
      During the 1995 DOE Robotics Forum at Albuquerque, New Mexico, Georgia Tech's Intelligent Machine Dynamics Laboratory demonstrated remote display capabilities of its telemanipulated long-reach manipulator testbed through ...
    • Optimizing Point to Point Motion of Net Velocity Constrained Manipulators 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      The architecture of many hydraulic manipulators, such as excavators common in the earthmoving industry, have constraints on the net sum of actuator speeds. This paper gives the necessary conditions for minimum-time velocity ...
    • Optimum control of flexible robot arms on fixed paths 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyU.S. Army Research Office, 1985-05)
      Productivity of the industrial robots are directly related to the speed of the task execution. The speed of the robots can be drastically improved by using better control algorithms and reducing the weight of the manipulator. ...
    • 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 ...
    • 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 ...
    • Shared control of hydraulic manipulators to decrease cycle time 

      Enes, Aaron R. (Georgia Institute of Technology, 2010-08-25)
      This thesis presents a technique termed Blended Shared Control, whereby a human operator's commands are merged with the commands of an electronic agent in real time to control a manipulator. A four degree-of-freedom hydraulic ...
    • Theory and practice of robots and manipulators 

      Book, Wayne John (Georgia Institute of TechnologyElsevier, 1977)
      The restrictions imposed on arm performance by strength and stiffness, constraints are characterized as limitations on the gross and fine motion speeds, respectively. The implications of the constraints are explored for a ...