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Institute for Robotics and Intelligent Machines (IRIM)
Institute for Robotics and Intelligent Machines (IRIM)
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ItemUpper Limb Rehabilitation and Evaluation of Children Using a Humanoid Robot(Georgia Institute of Technology, 2009-11) Brooks, Douglas Antwonne ; Howard, Ayanna M.This paper discusses a preliminary approach to matching child movements with robotic movements for the purpose of evaluating child upper limb rehabilitation exercises. Utilizing existing algorithms termed Motion History Imaging and Dynamic Time Warping for determining areas of movement and video frame mapping respectively, we are able to determine whether or not a patient is consistently performing accurate rehabilitation exercises. The overall goal of this research is to fuse play and rehabilitation techniques using a robotic design to induce child-robot interaction that will be entertaining as well as effective for the child.
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ItemIndividual Muscle Control using an Exoskeleton Robot for Muscle Function Testing(Georgia Institute of Technology, 2009-10) Ueda, Jun ; Hyderabadwala, Moiz ; Ding, Ming ; Ogasawara, Tsukasa ; Krishnamoorthy, Vijaya ; Shinohara, Minoru
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ItemProbabilistic Analysis of Market-Based Algorithms for Initial Robotic Formations(Georgia Institute of Technology, 2009-06) Viguria Jimenez, Luis Antidio ; Howard, Ayanna M.In this paper, we present a probabilistic analysis approach for analyzing market-based algorithms applied to the initial formation problem. These algorithms determine an assignment scheme for associating individual robots with goal positions necessary to achieve a desired formation while minimizing an objective function. The main contribution of this paper is a method that calculates the expected value of the objective function, which allows us to estimate and compare theoretically the performance of two task allocation algorithms. This probabilistic analysis is applied in different runtime scenarios. We validate our approach through both simulations and experiments with real robots.
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ItemAutomatic Formation Deployment of Decentralized Heterogeneous Multiple-Robot Networks with Limited Sensing Capabilities(Georgia Institute of Technology, 2009-05) Smith, Brian Stephen ; Wang, Jiuguang ; Howard, Ayanna M. ; Egerstedt, Magnus B.Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations. This is the case for distributing sensing devices with heterogeneous mobile sensor networks. Here, we consider a heterogeneous multi-robot network of mobile robots. The robots have a limited range in which they can estimate the relative position of other network members. The network is also heterogeneous in that only a subset of robots have localization ability. We develop a method for automatically configuring the heterogeneous network to deploy a desired formation at a desired location. This method guarantees that network members without localization are deployed to the correct location in the environment for the sensor placement
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ItemImprovements To Satellite-Based Albedo Measurements Using In Situ Robotic Surveying Techniques(Georgia Institute of Technology, 2009-04) Parker, Lonnie T. ; English, Brittney A. ; Chavis, Marcus A. ; Howard, Ayanna M.
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ItemPimp my Roomba: designing for personalization(Georgia Institute of Technology, 2009-04) Sung, Ja-Young ; Grinter, Rebecca E. ; Christensen, Henrik I.We present a study of how householders personalize their domestic vacuuming robot, iRobot's Roomba". In particular, we build on Blom and Monk's [3] theory of personalization that argues that personalization does not only occur naturally but can also be induced by design choices. In this study, we created a personalization toolkit, which allowed people to customize their Roomba's appearance and distributed it to 15 households. Our observations of these households provide empirical support that personalization can facilitate positive experiences with a Roomba, and having materials to hand can increase the odds of customization. We conclude by discussing design implications for personalization.
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Item3-D Simulations for Testing and Validating Robotic-Driven Applications for Exploring Lunar Pole(Georgia Institute of Technology, 2009-04) Williams, Stephen ; Remy, Sekou ; Howard, Ayanna M.
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ItemDevelopment of a Mobile Arctic Sensor Node for Earth-Science Data Collection Applications(Georgia Institute of Technology, 2009-04) Williams, Stephen ; Hurst, Michael ; Howard, Ayanna M.
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ItemAutomatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints(Georgia Institute of Technology, 2009-04) Smith, Brian Stephen ; Howard, Ayanna M. ; Egerstedt, Magnus B.In this paper we present a collection of graphbased methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we mean by this is that the formation, once achieved, will be preserved by the direct maintenance of the smallest subset of all possible pairwise interagent distances. In this context, formations are defined by sets of points separated by distances corresponding to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations. Experimental results are presented that illustrate the operation of the proposed methods on real robot platforms.
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ItemPredicting the Robot Learning Curve based on Properties of Human Interaction(Georgia Institute of Technology, 2009-03) Remy, Sekou ; Howard, Ayanna M.