Recent Submissions

  • A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning 

    Bhattacharjee, Tapomayukh; Grice, Phillip M.; Kapusta, Ariel; Killpack, Marc D.; Park, Daehyung; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
    We present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control [1], learned initial conditions [2], tactile recognition of object ...
  • Finding and Navigating to Household Objects with UHF RFID Tags by Optimizing RF Signal Strength 

    Deyle, Travis; Reynolds, Matthew S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
    We address the challenge of finding and navigating to an object with an attached ultra-high frequency radio- frequency identification (UHF RFID) tag. With current off-the- shelf technology, one can affix ...
  • Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter 

    Park, Daehyung; Kapusta, Ariel; Kim, You Keun; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
    Often in highly-cluttered environments, a robot can observe the exterior of the environment with ease, but cannot directly view nor easily infer its detailed internal structure (e.g., dense ...
  • Inferring Object Properties from Incidental Contact with a Tactile-Sensing Forearm 

    Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of Technology, 2014-09)
    Whole-arm tactile sensing enables a robot to sense properties of contact across its entire arm. By using this large sensing area, a robot has the potential to acquire useful information from incidental contact that ...
  • Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments 

    Park, Daehyung; Kapusta, Ariel; Hawke, Jeffrey; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
    We present a new method for reaching in an initially unknown environment with only haptic sensing. In this paper, we propose a haptically-guided interleaving planning and control (HIPC) method with a haptic mapping ...
  • Assistive Mobile Manipulation for Self-Care Tasks Around the Head 

    Hawkins, Kelsey P.; Grice, Phillip M.; Chen, Tiffany L.; King, Chih-Hung; Kemp, Charles C. (Georgia Institute of Technology, 2014)
    Human-scale mobile robots with arms have the potential to assist people with a variety of tasks. We present a proof-of-concept system that has enabled a person with severe quadriplegia named Henry Evans to shave himself ...
  • Informing Assistive Robots with Models of Contact Forces from Able-Bodied Face Wiping and Shaving 

    Hawkins, Kelsey P.; King, Chih-Hung; Chen, Tiffany L.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-09)
    Hygiene and feeding are activities of daily living (ADLs) that often involve contact with a person's face. Robots can assist people with motor impairments to perform these tasks by holding a tool that makes contact with ...
  • 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. ...
  • The Wouse: A Wearable Wince Detector to Stop Assistive Robots 

    Grice, Phillip M.; Lee, Andy; Evans, Henry; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-09)
    Persons with severe motor impairments depend heavily upon caregivers for the performance of everyday tasks. Ongoing work is exploring the potential of giving motor-impaired users control of semi-autonomous assistive mobile ...
  • ROS Commander (ROSCo): Behavior Creation for Home Robots 

    Nguyen, Hai; Ciocarlie, Matei; Hsiao, Kaijen; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
    We introduce ROS Commander (ROSCo), an open source system that enables expert users to construct, share, and deploy robot behaviors for home robots. A user builds a behavior in the form of a Hierarchical Finite State Machine ...
  • In-Hand Radio Frequency Identification (RFID) for Robotic Manipulation 

    Deyle, Travis; Tralie, Christopher J.; Reynolds, Matthew S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
    We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed ...
  • 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 ...
  • Improving robot manipulation with data-driven object-centric models of everyday forces 

    Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologySpringer Verlag, 2013-06)
    Based on a lifetime of experience, people anticipate the forces associated with performing a manipulation task. In contrast, most robots lack common sense about the forces involved in everyday manipulation tasks. In this ...
  • An investigation of responses to robot-initiated touch in a nursing context 

    Chen, Tiffany L.; King, Chih-Hung Aaron; Thomaz, Andrea L.; Kemp, Charles C. (Georgia Institute of TechnologySpringer Verlag, 2013-10)
    Physical human-robot interaction has the potential to be useful in a number of domains, but this will depend on how people respond to the robot’s actions. For some domains, such as healthcare, a robot is likely to initiate ...
  • Autonomously learning to visually detect where manipulation will succeed 

    Nguyen, Hai; Kemp, Charles C. (Georgia Institute of TechnologySpringer Verlag, 2013-09)
    Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. We present methods that ...
  • Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance 

    Grice, Phillip M.; Killpack, Marc D.; Jain, Advait; Vaish, Sarvagya; Hawke, Jeffrey; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
    Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector ...
  • Tactile Sensing over Articulated Joints with Stretchable Sensors 

    Bhattacharjee, Tapomayukh; Jain, Advait; Vaish, Sarvagya; Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
    Biological organisms benefit from tactile sensing across the entire surfaces of their bodies. Robots may also be able to benefit from this type of sensing, but fully covering a robot with robust and capable tactile sensors ...
  • Older Adults Medication Management in the Home: How can Robots Help? 

    Prakash, Akanksha; Beer, Jenay M.; Deyle, Travis; Smarr, Cory-Ann; Chen, Tiffany L.; Mitzner, Tracy L.; Kemp, Charles C.; Rogers, Wendy A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-03)
    Successful management of medications is critical to maintaining healthy and independent living for older adults. However, medication non-adherence is a common problem with a high risk for severe consequences [5], which can ...
  • Robots for Humanity: A Case Study in Assistive Mobile Manipulation 

    Chen, Tiffany L.; Ciocarlie, Matei; Cousins, Steve; Grice, Phillip M.; Hawkins, Kelsey; Hsiao, Kaijen; Kemp, Charles C.; King, Chih-Hung; Lazewatsky, Daniel A.; Nguyen, Hai; Paepcke, Andreas; Pantofaru, Caroline; Smart, William D.; Takayama, Leila (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-03)
    Assistive mobile manipulators have the potential to one day serve as surrogates and helpers for people with disabilities, giving them the freedom to perform tasks such as scratching an itch, picking up a cup, or socializing ...
  • Fast Reaching in Clutter While Regulating Forces Using Model Predictive Control 

    Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
    Moving a robot arm quickly in cluttered and unmodeled workspaces can be difficult because of the inherent risk of high impact forces. Additionally, compliance by itself is not enough to limit contact forces due to ...

View more