Care-O-bot II—Development of a Next Generation Robotic Home Assistant
Autonomous Robots
Learning and generalizing control-based grasping and manipulation skills
Learning and generalizing control-based grasping and manipulation skills
Toward humanoid manipulation in human-centred environments
Robotics and Autonomous Systems
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Development and evaluation of a flexible interface for a wheelchair mounted robotic arm
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
A point-and-click interface for the real world: laser designation of objects for mobile manipulation
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Curious George: An attentive semantic robot
Robotics and Autonomous Systems
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Proceedings of the 10th international ACM SIGACCESS conference on Computers and accessibility
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
HRP-2W: A humanoid platform for research on support behavior in daily life environments
Robotics and Autonomous Systems
Learning grasp strategies with partial shape information
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Object recognition and ontology for manipulation with an assistant robot
ICOST'10 Proceedings of the Aging friendly technology for health and independence, and 8th international conference on Smart homes and health telematics
Roboshop: multi-layered sketching interface for robot housework assignment and management
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Enabling grasping of unknown objects through a synergistic use of edge and surface information
International Journal of Robotics Research
Proceedings of the 14th international ACM SIGACCESS conference on Computers and accessibility
Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments
Robotics and Autonomous Systems
Autonomously learning to visually detect where manipulation will succeed
Autonomous Robots
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Assistive mobile robots that autonomously manipulate objects within everyday settings have the potential to improve the lives of the elderly, injured, and disabled. Within this paper, we present the most recent version of the assistive mobile manipulator EL-E with a focus on the subsystem that enables the robot to retrieve objects from and deliver objects to flat surfaces. Once provided with a 3D location via brief illumination with a laser pointer, the robot autonomously approaches the location and then either grasps the nearest object or places an object. We describe our implementation in detail, while highlighting design principles and themes, including the use of specialized behaviors, task-relevant features, and low-dimensional representations.We also present evaluations of EL-E's performance relative to common forms of variation. We tested EL-E's ability to approach and grasp objects from the 25 object categories that were ranked most important for robotic retrieval by motor-impaired patients from the Emory ALS Center. Although reliability varied, EL-E succeeded at least once with objects from 21 out of 25 of these categories. EL-E also approached and grasped a cordless telephone on 12 different surfaces including floors, tables, and counter tops with 100% success. The same test using a vitamin pill (ca. 15 mm 脳 5 mm 脳 5 mm) resulted in 58% success.