110 citations · 322 across the 29 of their papers we have counts for
6 papers · 1 filter
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…
BodyPressure -- Inferring Body Pose and Contact Pressure from a Depth Image
Henry M. Clever, Patrick Grady, Greg Turk +1
Contact pressure between the human body and its surroundings has important implications. For example, it plays a role in comfort, safety, posture, and health. We present a method t…
Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction
Zackory Erickson, Henry M. Clever, Vamsee Gangaram +4
Towards the goal of robots performing robust and intelligent physical interactions with people, it is crucial that robots are able to accurately sense the human body, follow trajec…
ContactOpt: Optimizing Contact to Improve Grasps
Patrick Grady, Chengcheng Tang, Christopher D. Twigg +3
Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve…
Learning to Manipulate Amorphous Materials
Yunbo Zhang, Wenhao Yu, C. Karen Liu +2
We present a method of training character manipulation of amorphous materials such as those often used in cooking. Common examples of amorphous materials include granular materials…