An assistive object manipulation system
Authors: 
Alexandros Papangelis, Isura Ranatunga, Christopher McMurrough, Fillia MakedonAuthors Info & Claims
Article No.: 61, Pages 1 - 4
Abstract
In this paper, we present a system targeted for assistive living environments, that is able to control the actuators of a robot and manipulate objects that lie on a table. An adaptive dialogue system is responsible for interacting with the user, retrieving his/her intentions and reacting accordingly. Our system is able to learn in real time how to solve complicated tasks by combining solutions to simpler ones, thus reusing previous knowledge. It is also able to effectively plan and execute table top object manipulation, which can have a great impact in the quality of life of an elderly, disabled or injured person.
References
[1]
H. Cuayáhuitl and N. Dethlefs. Hierarchical multiagent reinforcement learning for coordinating verbal and non-verbal actions in robots. Machine Learning For Interactive Systems: Bridging The Gap Between Language, Motor Control And Vision, page 27, 2012.
[2]
D. Huggins-Daines, M. Kumar, A. Chan, A. Black, M. Ravishankar, and A. Rudnicky. Pocketsphinx: A free, real-time continuous speech recognition system for hand-held devices. In Acoustics, Speech and Signal Processing, 2006. ICASSP 2006 Proceedings. 2006 IEEE International Conference on, volume 1, page I, may 2006.
[3]
D. A. Lazewatsky and W. D. Smart. Context-sensitive in-the-world interfaces for mobile manipulation robots. In RO-MAN, 2012 IEEE, pages 989--994, sept. 2012.
[4]
A. Papangelis. A comparative study of reinforcement learning techniques on dialogue management. In Proc. of SRW at EACL, pages 22--31. ACL, 2012.
[5]
A. Papangelis, V. Karkaletsis, and F. Makedon. Online complex action learning and user state estimation for adaptive dialogue systems. In Proc. of IEEE ICTAI, 2012.
[6]
M. Quigley, K. Conley, B. Gerkey, J. Faust, T. B. Foote, J. Leibs, R. Wheeler, and A. Y. Ng. ROS: an open-source robot operating system. In ICRA Workshop on Open Source Software, 2009.
[7]
S. Tellex, T. Kollar, S. Dickerson, M. R. Walter, A. G. Banerjee, S. J. Teller, and N. Roy. Understanding natural language commands for robotic navigation and mobile manipulation. In AAAI'11, pages -1--1, 2011.
[8]
Willow-Garage. www.willowgarage.com.
Recommendations
Perceiving, learning, and exploiting object affordances for autonomous pile manipulation
Autonomous manipulation in unstructured environments will enable a large variety of exciting and important applications. Despite its promise, autonomous manipulation remains largely unsolved. Even the most rudimentary manipulation task--such as removing ...
Object recognition and ontology for manipulation with an assistant robot
ICOST'10: Proceedings of the Aging friendly technology for health and independence, and 8th international conference on Smart homes and health telematicsThis article presents a service robotic system for people loosing their autonomy developed at CEA LIST. In the past on SAM robot, we have developed a method for automatic manipulation and object grasping using visual servoing. This method is too ...
A Wearable Robotic Device for Assistive Navigation and Object Manipulation
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)This paper presents a hand-worn assistive device to assist a visually impaired person with object manipulation. The device uses a Google Pixel 3 as the computational platform, a Structure Core (SC) sensor for perception, a speech interface, and a haptic ...
Comments
Please enable JavaScript to view thecomments powered by Disqus.Information & Contributors
Information
Published In
May 2013
413 pages
ISBN:9781450319737
DOI:10.1145/2504335
- Conference Chair:
- Fillia Makedon,
- Program Chairs:
- Margrit Betke,
- Magy Self El-Nasr,
- Ilias Maglogiannis
Copyright © 2013 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]
Sponsors
- NSF: National Science Foundation
- FORTH: Foundation for Research and Technology - Hellas
- HERACLEIA: HERACLEIA Human-Centered Computing Laboratory at UTA
- U of Tex at Arlington: U of Tex at Arlington
- TEI: Technological Educational Institution of Athens
- UCG: University of Central Greece
- NCRS: Demokritos National Center for Scientific Research
- Fulbrigh, Greece: Fulbright Foundation, Greece
- Ionian: Ionian University, GREECE
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 29 May 2013
Check for updates
Author Tags
Qualifiers
- Research-article
Funding Sources
Conference
PETRA '13
Sponsor:
- NSF
- FORTH
- HERACLEIA
- U of Tex at Arlington
- TEI
- UCG
- NCRS
- Fulbrigh, Greece
- Ionian
PETRA '13: The 6th International Conference on PErvasive Technologies Related to Assistive Environments
May 29 - 31, 2013
Rhodes, Greece
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 86Total Downloads
- Downloads (Last 12 months)9
- Downloads (Last 6 weeks)0
Reflects downloads up to 09 Jan 2025
Other Metrics
Citations
View Options
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign in