110 citations · 322 across the 29 of their papers we have counts for
30 papers · 1 filter
The Un-Kidnappable Robot: Acoustic Localization of Sneaking People
Mengyu Yang, Patrick Grady, Samarth Brahmbhatt +3
How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collec…
Visual Contact Pressure Estimation for Grippers in the Wild
Jeremy A. Collins, Cody Houff, Patrick Grady +1
Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or im…
Force/Torque Sensing for Soft Grippers using an External Camera
Jeremy A. Collins, Patrick Grady, Charles C. Kemp
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We p…
Visual Pressure Estimation and Control for Soft Robotic Grippers
Patrick Grady, Jeremy A. Collins, Samarth Brahmbhatt +4
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant…
The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments
Charles C. Kemp, Aaron Edsinger, Henry M. Clever +1
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, w…
Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations
Kavya Puthuveetil, Charles C. Kemp, Zackory Erickson
While robots present an opportunity to provide physical assistance to older adults and people with mobility impairments in bed, people frequently rest in bed with blankets that cov…