Now showing items 1149-1168 of 1540

    • Quantifying Coherence when Learning Behaviors via Teleoperation 

      Remy, Sekou; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-08)
      Applications of robotics are quickly changing. Just as computer use evolved from research purposes to everyday functions, applications of robotics are making a transition to mainstream usage. With this change in applications ...
    • Quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid Robot 

      Brooks, Douglas A.; Howard, Ayanna M. (Georgia Institute of TechnologyIOS Press, 2012)
      The objective of this research effort is to integrate therapy instruction with child-robot play interaction in order to better assess upper-arm rehabilitation. Using computer vision techniques such as Motion History Imaging ...
    • Quantitative Evaluation of the Microsoft Kinect for Use in an Upper Extremity Virtual Rehabilitation Environment 

      Nixon, Mason; Chen, Yu-ping; Howard, Ayanna M. (Georgia Institute of Technology, 2013)
      Low cost depth sensors could potentially allow for home-based care and rehabilitation using virtual systems. Currently, no publicly available and peer-reviewed assessment has been made on the accuracy of joint position ...
    • Quantitative System for Technical Assessment and Training of Skills (STATS) for Surgical Performance 

      Krovi, Venkat N. (2014-10-08)
      Surgical procedural performance involves interplay of a highly dynamic system of intercoupled perceptual, sensory, and cognitive components—at the current stage, however, our focus is on sensorimotor procedural performance. ...
    • Rao-Blackwellized Importance Sampling of Camera Parameters from Simple User Input with Visibility Preprocessing in Line Space 

      Quennesson, Kevin; Dellaert, Frank (Georgia Institute of Technology, 2006-06)
      Users know what they see before where they are: it is more natural to talk about high level visibility information ("I see such object") than about one's location or orientation. In this paper we introduce a method to find ...
    • A Rao-Blackwellized MCMC Algorithm for Recovering Piecewise Planar 3D Models From Multiple View RGBD Images 

      Srinivasan, Natesh; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-10)
      In this paper, we propose a reconstruction technique that uses 2D regions/superpixels rather than point features. We use pre-segmented RGBD data as input and obtain piecewise planar 3D models of the world. We ...
    • A Rao-Blackwellized Particle Filter for EigenTracking 

      Khan, Zia; Balch, Tucker; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-06)
      Subspace representations have been a popular way to model appearance in computer vision. In Jepson and Black’s influential paper on EigenTracking, they were successfully applied in tracking. For noisy targets, optimi ...
    • A Rao-Blackwellized Particle Filter for Topological Mapping 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-05)
      We present a particle filtering algorithm to construct topological maps of an uninstrument environment. The algorithm presented here constructs the posterior on the space of all possible topologies given measurements, ...
    • A Rao-Blackwellized Parts-Constellation Tracker 

      Schindler, Grant; Dellaert, Frank (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2005)
      We present a method for efficiently tracking objects represented as constellations of parts by integrating out the shape of the model. Parts-based models have been successfully applied to object recognition and tracking. ...
    • Rapid Categorization of Object Properties from Incidental Contact with a Tactile Sensing Robot Arm, 

      Bhattacharjee, Tapomayukh; Kapusta, Ariel; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      We demonstrate that data-driven methods can be used to rapidly categorize objects encountered through incidental contact on a robot arm. Allowing incidental contact with surrounding objects has benefits during manipulation ...
    • Rapid Loop Updates 

      Indelman, Vadim; Dellaert, Frank (Georgia Institute of Technology, 2012-09-11)
    • Reach out and touch someone: controlling haptic manipulators near and far 

      Book, Wayne John; Swanson, Davin K. (Georgia Institute of TechnologyElsevier, 2003)
      Robotic devices now commonly interact physically with humans. Control issues surrounding this constraint are discussed and several approaches are considered. Examined in detail is the use of energetically passive designs, ...
    • Reaching in clutter with whole-arm tactile sensing 

      Jain, Advait; Killpack, Marc D.; Edsinger, Aaron; Kemp, Charles C. (Georgia Institute of TechnologySage, 2013-04)
      Clutter creates challenges for robot manipulation, including a lack of non-contact trajectories and reduced visibility for line-of-sight sensors. We demonstrate that robots can use whole-arm tactile sensing to perceive ...
    • Reactive Control for Mobile Manipulation 

      Cameron, Jonathan M.; MacKenzie, Douglas C.; Ward, Keith R.; Arkin, Ronald C.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1993-05)
      Research for executing large-scale motions of mobile manipulators is described. Mobile manipulators are mobile bases with an attached arm which function in an integrated manner. Motivation is given for moving the arm while ...
    • Reactive Control of a Mobile Manipulator Using Pseudo-Joint Damping 

      Ward, Keith Ronald; Arkin, Ronald C. (Georgia Institute of Technology, 1993)
      Reactive control for mobile manipulation involves a tight coupling of sensors to motor response. Pseudo-forces exerted on the end-effector and limbs of the mobile manipulator must be distributed over the entire structure. ...
    • Reactive Mobile Manipulation Using Dynamic Trajectory Tracking 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-04)
      A solution to the trajectory tracking problem for mobile manipulators is proposed, that allows for the base to be influenced by a reactive, obstacle avoidance behavior. Given a trajectory for the gripper to follow, a ...
    • Reactive Mobile Manipulation: Design and Implementation 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-12)
      A solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, ...
    • Reactive Path Shaping: Local Path Planning for Autonomous Mobile Robots 

      Schmitt, Paul Richard; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1996-11)
      This paper introduces a path generator for autonomous nonholonomic mobile robots in partially known aisle environments. Reactive Path Shaping (RPS) is designed for autonomous vehicle obstacle avoidance and utilizes information ...
    • A Reactive Robot Architecture With Planning on Demand 

      Koenig, Sven; Ranganathan, Ananth (Georgia Institute of Technology, 2003)
      In this paper, we describe a reactive robot architecture that uses fast re-planning methods to avoid the shortcomings of reactive navigation, such as getting stuck in box canyons or in front of small openings. Our robot ...
    • Reactive Robot Navigation Using Optimal Timing Control 

      Axelsson, Henrik; Egerstedt, Magnus B.; Wardi, Yorai (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-06)
      In this paper a solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution is obtained by allowing the robot to switch between a ...