157 citations · 613 across the 45 of their papers we have counts for
6 papers · 1 filter
Assistive Gym: A Physics Simulation Framework for Assistive Robotics
Zackory Erickson, Vamsee Gangaram, Ariel Kapusta +2
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents…
Learning a Control Policy for Fall Prevention on an Assistive Walking Device
Visak C V Kumar, Sehoon Ha, Gergory Sawicki +1
Fall prevention is one of the most important components in senior care. We present a technique to augment an assistive walking device with the ability to prevent falls. Given an ex…
Learning to Collaborate from Simulation for Robot-Assisted Dressing
Alexander Clegg, Zackory Erickson, Patrick Grady +3
We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and r…
Estimating Mass Distribution of Articulated Objects using Non-prehensile Manipulation
K. Niranjan Kumar, Irfan Essa, Sehoon Ha +1
We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using…
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Zackory Erickson, Henry M. Clever, Vamsee Gangaram +3
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain di…
Sim-to-Real Transfer for Biped Locomotion
Wenhao Yu, Visak CV Kumar, Greg Turk +1
We present a new approach for transfer of dynamic robot control policies such as biped locomotion from simulation to real hardware. Key to our approach is to perform system identif…