Title:
Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor
Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor
| dc.contributor.author | Fan, Zhengqin | en_US |
| dc.contributor.author | King, Chih-Hung | en_US |
| dc.contributor.author | Darb, Hamza | en_US |
| dc.contributor.author | Kemp, Charles C. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Healthcare Robotics Lab | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-03-10T20:56:06Z | |
| dc.date.available | 2011-03-10T20:56:06Z | |
| dc.date.issued | 2010-06 | |
| dc.description | Presented at the Second International Symposium on Quality of Life Technology June 28 - June 29, 2010, Las Vegas, NV. | en_US |
| dc.description.abstract | Retrieval of dropped objects has consistently been ranked as a high priority task for assistive robots. We have previously presented a dustpan-inspired end effector capable of robustly grasping objects from the floor. In this paper, we present and evaluate Dusty, a complete mobile manipulator consisting of a new version of this end effector, a mobile base, a scissor lift, and a wireless interface. The interface consists of a joystick for driving, a button that triggers a grasping behavior, and a button that operates the lift. We first tested Dusty’s ability to grasp objects from 25 object categories prioritized for robotic retrieval by people with ALS. Dusty succeeded in 97.6% of the 125 trials and grasped each object no fewer than 3 out of 5 times. We then tested Dusty’s ability to grasp a small, thin cylinder (ca. 2.92cm diameter and 0.71cm height) placed at different locations. Grasping succeeded when the object was in a large region in front of the robot (ca. 15cm x 38cm), which we expect to improve usability. In preparation for testing with motor-impaired subjects, we conducted a pilot study with able-bodied subjects (n=10) in which each subject drove Dusty around an obstacle, picked up an object, and then delivered the object to him or herself, all while sitting in a stationary wheelchair. The subjects succeeded at this task in all 30 trials (3 trials each) with a mean completion time of 67.8 seconds (SD = 20.8 s). Our results suggest that assistive robots like Dusty could be useful for retrieving dropped objects and enhancing quality of life. | en_US |
| dc.identifier.citation | Zhengqin Fan, Chih-Hung King, Hamza Darb, and Charles C. Kemp, “Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor," Second International Symposium on Quality of Life Technology, June 28 - June 29, 2010, Las Vegas, NV. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/37350 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Assistive robotics | en_US |
| dc.subject | Teleoperation | en_US |
| dc.subject | Mobile manipulation | en_US |
| dc.title | Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Kemp, Charles C. | |
| local.contributor.corporatename | Healthcare Robotics Lab | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | e4f743b9-0557-4889-a16e-00afe0715f4c | |
| relation.isOrgUnitOfPublication | c6394b0e-6e8b-42dc-aeed-0e22560bd6f1 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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