2024

	Stretch with Stretch: Physical Therapy Exercise Games Led by a Mobile Manipulator. Matthew Lamsey, You Liang Tan, Meredith D. Wells, Madeline Beatty, Zexuan Liu, Arjun Majumdar, Kendra Washington, Jerry Feldman, Naveen Kuppuswamy, Elizabeth Nguyen, Arielle Wallenstein, Madeleine E. Hackney, Charles C. Kemp, accepted to ICRA, 2024. (website with videos)
	The Un-Kidnappable Robot: Acoustic Localization of Sneaking People, Mengyu Yang, Patrick Grady, Samarth Brahmbhatt, Arun Balajee Vasudevan, Charles C. Kemp, James Hays, accepted to ICRA, 2024 (website with data and videos).
	ForceSight: Text-Guided Mobile Manipulation with Visual-Force Goals, Jeremy A. Collins, Cody Houff, You Liang Tan, Charles C. Kemp, accepted to ICRA, 2024. (website with data, code, models, and videos)
	PressureVision++: Estimating Fingertip Pressure From Diverse RGB Images, Patrick Grady, Jeremy A. Collins, Chengcheng Tang, Christopher D. Twigg, Kunal Aneja, James Hays, and Charles C. Kemp. In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, pp. 8698-8708. 2024. (website with data, code, models, and videos)

2023

	Visual Contact Pressure Estimation for Grippers in the Wild, Jeremy A. Collins, Cody Houff, Patrick Grady, Charles C. Kemp, Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
	Force/Torque Sensing for Soft Grippers using an External Camera, Jeremy A. Collins, Patrick Grady, Charles C. Kemp, IEEE International Conference on Robotics and Automation (ICRA), 2023.

2022

	Visual Pressure Estimation and Control for Soft Robotic Grippers, Patrick Grady, Jeremy A. Collins, Samarth Brahmbhatt, Christopher D. Twigg, Chengcheng Tang, James Hays, Charles C. Kemp, Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. (link to arxiv.org)
	PressureVision: Estimating Hand Pressure from a Single RGB Image, Patrick Grady, Chengcheng Tang, Samarth Brahmbhatt, Christopher D. Twigg, Chengde Wan, James Hays, Charles C. Kemp, Accepted to the European Conference on Computer Vision (ECCV) 2022. (link to arxiv.org) (Accepted for Oral Presentation)
	The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments, Charles C. Kemp, Aaron Edsinger, Henry M. Clever and Blaine Matulevich, IEEE International Conference on Robotics and Automation (ICRA), 2022. (link to IEEE paper, link to arxiv.org)
	Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations, Kavya Puthuveetil, Charles C. Kemp, Zackory Erickson, IEEE Robotics and Automation Letters (RA-L), 2022.
	BodyPressure – Inferring Body Pose and Contact Pressure from a Depth Image, Henry M. Clever, Patrick Grady, Greg Turk, Charles C. Kemp, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2022.
	Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction, Zackory Erickson, Henry M. Clever, Vamsee Gangaram, Eliot Xing, Greg Turk, C. Karen Liu, Charles C. Kemp, Accepted to IEEE Transactions on Robotics (T-RO), 2022. (link to arxiv.org)

2021

	Material Recognition via Heat Transfer Given Ambiguous Initial Conditions, Tapomayukh Bhattacharjee, Henry M. Clever, Joshua M Wade, Charles C. Kemp, IEEE Transactions on Haptics, 2021.
	ContactOpt: Optimizing Contact to Improve Grasps, Patrick Grady, Chengcheng Tang, Christopher D. Twigg, Minh Vo, Samarth Brahmbhatt, Charles C. Kemp, Conference on Computer Vision and Pattern Recognition (CVPR), 2021. (Accepted for Oral Presentation)

2020

	Learning to Manipulate Amorphous Materials, Yunbo Zhang, Wenhao Yu, C. Karen Liu, Charles C. Kemp, Greg Turk, ACM Transactions on Graphics, Volume 39, Issue 6, December 2020.
	ContactPose: A Dataset of Grasps with Object Contact and Hand Pose, Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, and James Hays, The European Conference on Computer Vision (ECCV), 2020.
	Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots, Zackory Erickson*, Yijun Gu*, and Charles C. Kemp, IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020.
	Multimodal Material Classification for Robots using Spectroscopy and High Resolution Texture Imaging, Zackory Erickson, Eliot Xing, Bharat Srirangam, Sonia Chernova, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
	Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data, Henry M. Clever, Zackory Erickson, Ariel Kapusta, Greg Turk, C. Karen Liu, Charles C. Kemp. Conference on Computer Vision and Pattern Recognition (CVPR), 2020. (Accepted for Oral Presentation)
	Assistive Gym: A Physics Simulation Framework for Assistive Robotics, Zackory Erickson, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles C. Kemp, IEEE International Conference on Robotics and Automation (ICRA), 2020.
	Learning to Collaborate from Simulation for Robot-Assisted Dressing, Alex Clegg, Zackory Erickson, Patrick Grady, Greg Turk, Charles C. Kemp, and C. Karen Liu, IEEE Robotics and Automation Letters (RA-L), 2020.

2019

	Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned, Daehyung Park, Yuuna Hoshi, Harshal P Mahajan, Ho Keun Kim, Zackory Erickson, Wendy A Rogers, Charles C Kemp, Robotics and Autonomous Systems, 2019.
	A system for bedside assistance that integrates a robotic bed and a mobile manipulator, Ariel S. Kapusta, Phillip M. Grice, Henry M. Clever, Yash Chitalia, Daehyung Park, Charles C. Kemp, PLoS ONE 14(10), 2019.
	Personalized collaborative plans for robot-assisted dressing via optimization and simulation, Ariel Kapusta, Zackory Erickson, Henry M. Clever, Wenhao Yu, C. Karen Liu, Greg Turk, Charles C. Kemp, Autonomous Robots, 2019.
	Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing, Zackory Erickson, Henry M. Clever, Vamsee Gangaram, Greg Turk, C. Karen Liu, and Charles C. Kemp, International Conference on Rehabilitation Robotics (ICORR), 2019. (Best Student Paper Award)
	ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging, Samarth Brahmbhatt, Cusuh Ham, Charles C. Kemp, and James Hays, Conference on Computer Vision and Pattern Recognition (CVPR), 2019. (Best Paper Finalist, Oral Presentation)
	Classification of Household Materials via Spectroscopy, Zackory Erickson, Nathan Luskey, Sonia Chernova, and Charles C. Kemp, IEEE Robotics and Automation Letters (RA-L), 2019. (presented at ICRA 2019) (Best Paper Award in Service Robotics – Finalist  at IEEE Conference on Robotics and Automation (ICRA 2019))
	Task-centric optimization of configurations for assistive robots, Ariel Kapusta and Charles C. Kemp, Autonomous Robots, 2019.
	In-home and remote use of robotic body surrogates by people with profound motor deficits, Phillip M. Grice and Charles C. Kemp, PLoS ONE 14(3), 2019. (One of 19 papers selected as Editors’ Picks 2019)
	Multimodal anomaly detection for assistive robots, Daehyung Park, Hokeun Kim, and Charles C. Kemp, Autonomous Robots, 2019.

2018​

	3D Human Pose Estimation on a Configurable Bed from a Pressure Image, Henry M. Clever, Ariel Kapusta, Daehyung Park, Zackory Erickson, Yash Chitalia, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
	Towards Material Classification of Scenes Using Active Thermography, Haoping Bai, Tapomayukh Bhattacharjee, Haofeng Chen, Ariel Kapusta, and Charles C Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
	Deep Haptic Model Predictive Control for Robot-Assisted Dressing, Zackory Erickson, Henry M. Clever, Greg Turk, C. Karen Liu, and Charles C. Kemp, IEEE International Conference on Robotics and Automation (ICRA), 2018.
	Tracking Human Pose During Robot-Assisted Dressing using Single-Axis Capacitive Proximity Sensing, Zackory Erickson, Maggie Collier, Ariel Kapusta, Charles C. Kemp, IEEE Robotics and Automation Letters (RA-L), 2018.
	Multimodal Tactile Perception of Objects in a Real Home, Tapomayukh Bhattacharjee, Henry M. Clever, Joshua Wade, and Charles C. Kemp, IEEE Robotics and Automation Letters (RA-L) , 2018.
	A Multimodal Anomaly Detector for Robot-Assisted Feeding Using an LSTM-Based Variational Autoencoder, Daehyung Park, Yuuna Hoshi, and Charles C. Kemp, IEEE Robotics and Automation Letters (RA-L) , 2018.
	Inferring Object Properties with a Tactile Sensing Array Given Varying Joint Stiffness and Velocity, Tapomayukh Bhattacharjee, James M. Rehg, and Charles C. Kemp, International Journal of Humanoid Robotics, Vol. 15, No. 01, 2018.

2017

	A Force and Thermal Sensing Skin for Robots in Human Environments, Joshua Wade, Tapomayukh Bhattacharjee, Ryan D. Williams, and Charles C. Kemp, Robotics and Autonomous Systems, 2017.
	Older adults’ Acceptance of a Robot for Partner-Dance Based Exercise, Tiffany L. Chen, Tapomayukh Bhattacharjee, Jenay M. Beer, Lena H. Ting, Madeleine E. Hackney, Wendy A. Rogers, and Charles C. Kemp, PLoS ONE, 2017
	Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks, Zackory Erickson, Sonia Chernova, and Charles C. Kemp, 1st Annual Conference on Robot Learning (CoRL 2017), 2017.
	A Multimodal Execution Monitor with Anomaly Classification for Robot-Assisted Feeding, Daehyung Park, Hokeun Kim, Yuuna Hoshi, Zackory Erickson, Ariel Kapusta, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
	What Does the Person Feel? Learning to Infer Applied Forces During Robot-Assisted Dressing, Zackory Erickson, Alexander Clegg, Wenhao Yu, Greg Turk, C. Karen Liu, and Charles C. Kemp, IEEE International Conference on Robotics and Automation (ICRA), 2017.
	Haptic Simulation for Robot-Assisted Dressing, Wenhao Yu, Ariel Kapusta, Jie Tan, Charles C. Kemp, Greg Turk and C. Karen Liu, IEEE International Conference on Robotics and Automation (ICRA), 2017.
	Small Forces that Differ with Prior Motor Experience can Communicate Movement Goals during Human-Human Physical Interaction, Andrew Sawers, Tapomayukh Bhattacharjee, J. Lucas. McKay, Madeleine E. Hackney, Charles C. Kemp, and Lena H. Ting, Journal Of NeuroEngineering and Rehabilitation, 2017.
2016
	Force and Thermal Sensing with a Fabric-based Skin, Joshua Wade, Tapomayukh Bhattacharjee, and Charles C. Kemp, IROS Workshop on See, Touch, and Hear : 2nd Workshop on Multimodal Sensor-based Robot Control for HRI and Soft Manipulation, 2016.
	A CRF that Combines Touch and Vision for Haptic Mapping, Ashwin A. Shenoi, Tapomayukh Bhattacharjee, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
	Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities, Ariel Kapusta, Yash Chitalia, Daehyung Park, and Charles C. Kemp, RO-MAN 2016 Workshop on behavior adaptation, interaction and learning for assistive robots (BAILAR 2016), 2016.
	Data-Driven Haptic Perception for Robot-Assisted Dressing, Ariel Kapusta, Wenhao Yu, Tapomayukh Bhattacharjee, C. Karen Liu, Greg Turk, and Charles C. Kemp, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016.
	Robotic Repositioning of Human Limbs via Model Predictive Control, Kevin Chow and Charles C. Kemp, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016.
	Autobed: Open Hardware for Accessible Web-based Control of an Electric Bed, Phillip M. Grice, Yash Chitalia, Megan Rich, Henry M. Clever, and Charles C. Kemp, 2016 Annual Conference, Rehabilitation Engineering and Assistive Technology Society of North America (RESNA), 2016. [Poster]
	Assistive Mobile Manipulation: Designing for Operators with Motor Impairments, Phillip M. Grice and Charles C. Kemp, RSS 2016 Workshop on Socially and Physically Assistive Robotics for Humanity, 2016.
	Optimization of Robot Configurations for Assistive Tasks, Ariel Kapusta and Charles C. Kemp, RSS 2016 Workshop on Planning for Human-Robot Interaction: Shared Autonomy and Collaborative Robotics, 2016
	Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation, Daehyung Park, Zackory Erickson, Tapomayukh Bhattacharjee, and Charles C. Kemp, IEEE International Conference on Robotics and Automation (ICRA), 2016.
	Towards Assistive Feeding with a General-Purpose Mobile Manipulator, Daehyung Park, You-Keun Kim, Zackory Erickson, and Charles C. Kemp, ICRA 2016 workshop on Human-Robot Interfaces for Enhanced Physical Interactions, 2016
	Data-Driven Thermal Recognition of Contact with People and Objects, Tapomayukh Bhattacharjee, Joshua Wade, Yash Chitalia, and Charles C. Kemp, IEEE Haptics Symposium, 2016
2015
	A Handheld Device for the In Situ Acquisition of Multimodal Tactile Sensing Data, Joshua Wade, Tapomayukh Bhattacharjee, and Charles C. Kemp, IROS Workshop on See and Touch: 1st Workshop on multimodal sensor-based robot control for HRI and soft manipulation, 2015
	Model predictive control for fast reaching in clutter, Marc D. Killpack, Ariel Kapusta, and Charles C. Kemp, Autonomous Robots, (online version) 2015
	Task-centric selection of robot and environment initial configurations for assistive tasks, Ariel Kapusta, Daehyung Park, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
	Combining Tactile Sensing and Vision for Rapid Haptic Mapping, Tapomayukh Bhattacharjee, Ashwin A. Shenoi, Daehyung Park, James M. Rehg, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
	Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact, Tapomayukh Bhattacharjee, Joshua Wade, and Charles C. Kemp, Robotics Science and Systems (RSS), 2015
	Evaluation by Expert Dancers of a Robot That Performs Partnered Stepping via Haptic Interaction, Tiffany L. Chen, Tapomayukh Bhattacharjee, J. Lucas Mckay, Jacquelyn E. Borinski, Madeleine E. Hackney, Lena H. Ting, and Charles. C. Kemp, PLoS ONE, 2015
2014
	Assistive Mobile Manipulation for Self-Care Tasks Around the Head, Kelsey Hawkins, Phillip M. Grice, Tiffany L. Chen, Chih-Hung King, and Charles C. Kemp, 2014 IEEE Symposium on Computational Intelligence in Robotic Rehabilitation and Assistive Technologies, 2014
	Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments, Daehyung Park, Ariel Kapusta, Jeffrey Hawke, and Charles C. Kemp, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014
	Inferring Object Properties from Incidental Contact with a Tactile Sensing Forearm, Tapomayukh Bhattacharjee, James M. Rehg, and Charles C. Kemp, 1st version of journal article posted to this website as a downloadable preprint PDF on September 17 2014, arXiv:1409.4972, 2014
	Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter, Daehyung Park, Ariel Kapusta, You Keun Kim, James M. Rehg, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014
	Finding and Navigating to Household Objects with UHF RFID Tags by Optimizing RF Signal Strength, Travis Deyle, Matt Reynolds, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014
	A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning, Tapomayukh Bhattacharjee, Phillip M. Grice, Ariel Kapusta, Marc D. Killpack, Daehyung Park, and Charles C. Kemp, IROS 2014 workshop: 3rd Workshop on Robots in Clutter: Perception and Interaction in Clutter, 2014
2013
	An Investigation of Responses to Robot-Initiated Touch in a Nursing Context, Tiffany L. Chen, Chih-Hung Aaron King, Andrea L. Thomaz, and Charles C. Kemp, International Journal of Social Robotics, 2013
	Autonomously Learning to Visually Detect Where Manipulation Will Succeed, Hai Nguyen and Charles C. Kemp, Autonomous Robots, 2013
	Identifying the Potential for Robotics to Assist Older Adults in Different Living Environments, Tracy L. Mitzner, Tiffany L. Chen, Charles C. Kemp, and Wendy A. Rogers, International Journal of Social Robotics, 2013
	Fast Reaching in Clutter While Regulating Forces Using Model Predictive Control, Marc D. Killpack and Charles C. Kemp, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2013
	Rapid Categorization of Object Properties from Incidental Contact with a Tactile Sensing Robot Arm, Tapomayukh Bhattacharjee, Ariel Kapusta, James M. Rehg, and Charles C. Kemp, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2013
	Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance, Phillip M. Grice, Marc D. Killpack, Advait Jain, Sarvagya Vaish, Jeffrey Hawke, and Charles C. Kemp, Accepted to the 13th International Conference on Rehabilitation Robotics (ICORR), 2013
	Reaching in Clutter with Whole-Arm Tactile Sensing, Advait Jain, Marc D. Killpack, Aaron Edsinger, and Charles C. Kemp, The International Journal of Robotics Research, 2013
	Robots for humanity: Using assistive robotics to empower people with disabilities, Tiffany L. Chen, Matei Ciocarlie, Steve Cousins, Phillip Grice, Kelsey Hawkins, Kaijen Hsiao, Charles C. Kemp, Chih-Hung King, Daniel A. Lazewatsky, Adam Leeper, Hai Nguyen, Andreas Paepcke, Caroline Pantofaru, William D. Smart, and Leila Takayama, IEEE Robotics & Automation Magazine 20 (1), 30-39, 2013
	Older Adults Medication Management in the Home: How can Robots Help?, Akanksha Prakash, Jenay M. Beer, Travis Deyle, Cory-Ann Smarr, Tiffany L. Chen, Tracy L. Mitzner, Charles C. Kemp, and Wendy A. Rogers, 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013
	Tactile Sensing over Articulated Joints with Stretchable Sensors, Tapomayukh Bhattacharjee, Advait Jain, Sarvagya Vaish, Marc D. Killpack, and Charles C. Kemp, IEEE World Haptics Conference (WHC 2013), 2013
	Improving Robot Manipulation with Data-Driven Object-Centric Models of Everyday Forces, Advait Jain and Charles C. Kemp, Autonomous Robots, 2013
	In-Hand Radio Frequency Identification (RFID) for Robotic Manipulation, Travis Deyle, Christopher Tralie, Matthew Reynolds, and Charles C. Kemp, IEEE International Conference on Robotics and Automation, 2013
	ROS Commander (ROSCo): Behavior Creation for Home Robots, Hai Nguyen, Matei Ciocarlie, Kaijen Hsiao, and Charles C. Kemp, IEEE International Conference on Robotics and Automation, 2013
2012
	Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm, Tapomayukh Bhattacharjee, James M. Rehg, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012
	The Wouse: A Wearable Wince Detector to Stop Assistive Robots, Phillip M. Grice, Andy Lee, Henry W. Evans, and Charles C. Kemp, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2012
	Informing Assistive Robots with Models of Contact Forces from Able-Bodied Face Wiping and Shaving, Kelsey Hawkins, Chih-Hung King, Tiffany L. Chen, and Charles C. Kemp, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2012
	A Robotic System for Autonomous Medication and Water Delivery, Victor Emeli, Alan R. Wagner, and Charles C. Kemp, Georgia Institute of Technology, GT-IC-12-01, 2012
	Older Adults’ Preferences for and Acceptance of Robot Assistance for Everyday Living Tasks, Cory-Ann Smarr, Akanksha Prakash, Jenay Beer, Tracy L. Mitzner, Charles C. Kemp, and Wendy Rogers, 56th Annual Meeting of the Human Factors and Ergonomics Society (HFES), 2012
	“Commanding Your Robot” Older Adults Preferences for Methods of Robot Control, Jenay M. Beer, Cory-Ann Smarr, Akanksha Prakash, Tracy Mitzner, Charles C. Kemp, and Wendy Rogers, 56th Annual Meeting of the Human Factors and Ergonomics Society (HFES), 2012
	The Domesticated Robot: Design Guidelines for Assisting Older Adults to Age in Place, Jenay M. Beer, Cory-Ann Smarr, Tiffany L. Chen, Akanksha Prakash, Tracy L. Mitzner, Charles C. Kemp, and Wendy A. Rogers, 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2012

2011

• Manipulation in Clutter with Whole-Arm Tactile Sensing, Advait Jain, Marc D. Killpack, Aaron Edsinger, and Charles C. Kemp, 1st version of published IJRR article submitted to IJRR on December 31 2011 and posted to this website as a downloadable PDF on January 16 2012, arXiv:1304.6146, 2011

• Older Adults’ Needs for Assistance as a Function of Living Environment, Tracy L. Mitzner, Tiffany L. Chen, Charles C. Kemp, and Wendy A. Rogers, 55th Annual Meeting of the Human Factors and Ergonomics Society (HFES), 2011

• Dusty: An Assistive Mobile Manipulator that Retrieves Dropped Objects for People with Motor Impairments, Chih-Hung King, Tiffany L. Chen, Zhengqin Fan, Jonathan D. Glass, and Charles C. Kemp, Disability and Rehabilitation: Assistive Technology, 2011

• Older Adults’ Acceptance of Assistive Robots for the Home, Tracy L. Mitzner, Cory-Ann Smarr, Jenay M. Beer, Tiffany L. Chen, Jennifer Megan Springman, Akanksha Prakash, Charles C. Kemp, and Wendy A. Rogers, Georgia Institute of Technology: Human Factors and Aging Laboratory, Technical Report HFA-TR-1105, 2011

• Touched By a Robot: An Investigation of Subjective Responses to Robot-initiated Touch, Tiffany L. Chen, Chih-Hung King, Andrea L. Thomaz, and Charles C. Kemp, 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2011

• A Direct Physical Interface for Navigation and Positioning of a Robotic Nursing Assistant, Tiffany L. Chen and Charles C. Kemp, Advanced Robotics, 2011

• Autonomous Active Learning of Task-Relevant Features for Mobile Manipulation, Hai Nguyen and Charles C. Kemp, RSS 2011 Workshop on Mobile Manipulation: Learning to Manipulate, 2011

 2010

• RFID-Guided Robots for Pervasive Automation, Travis Deyle, Hai Nguyen, Matt Reynolds, and Charles C. Kemp, IEEE Pervasive Computing, 2010

• Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task, Chih-Hung King, Marc D. Killpack, and Charles C. Kemp, Eurohaptics, 2010

• Perceiving Clutter and Surfaces for Object Placement in Indoor Environments, Martin J. Schuster, Jason Okerman, Hai Nguyen, James M. Rehg, and Charles C. Kemp, 10th IEEE-RAS International Conference on Humanoid Robots, 2010. (Project Webpage)

• Performance Evaluation Methods for Assistive Mobile Manipulation and Human-Robot Interaction, Tiffany L. Chen and Charles C. Kemp, Performance Metrics for Intelligent Systems (PerMIS’10) Workshop, 2010

• Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene, Chih-Hung King, Tiffany L. Chen, Advait Jain, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010

• Operating Articulated Objects Based on Experience, Jurgen Sturm, Advait Jain, Cyrill Stachniss, Charles C. Kemp, and Wolfram Burgard, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010

• Visual Odometry and Control for an Omnidirectional Mobile Robot with a Downward-Facing Camera, Marc D. Killpack, Travis Deyle, Cressel Anderson, and Charles C. Kemp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010

• The Complex Structure of Simple Devices: A Survey of Trajectories and Forces that Open Doors and Drawers, Advait Jain, Hai Nguyen, Mrinal Rath, Jason Okerman, and Charles C. Kemp, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2010. (Project Webpage)

• Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor, Zhengqin Fan, Chih-Hung King, Hamza Darb, and Charles C. Kemp, International Symposium on Quality of Life Technology, 2010. (Project Webpage)

• Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control. (Finalist for KUKA Service Robotics Best Paper Award), Advait Jain and Charles C. Kemp, IEEE International Conference on Robotics and Automation (ICRA), 2010. (Project Webpage)

• Lead Me by the Hand: Evaluation of a Direct Physical Interface for Nursing Assistant Robots, Tiffany L. Chen and Charles C. Kemp, 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2010

• EL-E: An Assistive Mobile Manipulator that Autonomously Fetches Objects from Flat Surfaces, Advait Jain and Charles C. Kemp, Autonomous Robots, 2010

 2009

• A List of Household Objects for Robotic Retrieval Prioritized by People with ALS, Young Sang Choi, Travis Deyle, and Charles C. Kemp, arXiv.org, 0902.2186v1, 2009
• Pulling Open Novel Doors and Drawers with Equilibrium Point Control, Advait Jain and Charles C. Kemp, IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2009. (Project Webpage)
• PPS-Tags: Physical Perceptual and Semantic Tags for Autonomous Mobile Manipulation, Hai Nguyen, Travis Deyle, Matt Reynolds, and Charles C. Kemp, IROS 2009 workshop: Semantic Perception for Mobile Manipulation, 2009
• Human-Robot Interaction Studies for Autonomous Mobile Manipulation for the Motor Impaired, Young Sang Choi, Cressel Anderson, Travis Deyle, and Charles C. Kemp, Experimental Design for Real-World Systems AAAI Spring Symposium 2009, 2009
• RF Vision: RFID Receive Signal Strength Indicator (RSSI) Images for Sensor Fusion and Mobile Manipulation, Travis Deyle, Hai Nguyen, Matt Reynolds, and Charles C. Kemp, IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2009
• Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator, Young Sang Choi, Tiffany L. Chen, Advait Jain, Cressel Anderson, Jonathan D. Glass, and Charles C. Kemp, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2009
• 1000 Trials: An Empirically Validated End Effector that Robustly Grasps Objects from the Floor, Zhe Xu, Travis Deyle, and Charles C. Kemp, IEEE International Conference on Robotics and Automation, 2009
• A List of Household Objects for Robotic Retrieval Prioritized by People with ALS, Young Sang Choi, Travis Deyle, Tiffany L. Chen, Jonathan D. Glass, and Charles C. Kemp, International Conference on Rehabilitation Robotics, 2009
• Behavior-Based Door Opening with Equilibrium Point Control, Advait Jain and Charles C. Kemp, RSS 2009 Workshop: Mobile Manipulation in Human Environments, 2009

2008

• Laser Pointers and a Touch Screen: Intuitive Interfaces for Autonomous Mobile Manipulation for the Motor Impaired, Young Sang Choi, Cressel Anderson, Jonathan D. Glass, and Charles C. Kemp, ACM SIGACCESS Conference on Computers and Accessibility, 2008
• A Clickable World: Behavior Selection Through Pointing and Context for Mobile Manipulation, Hai Nguyen, Advait Jain, Cressel Anderson, and Charles C. Kemp, IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2008
• Bio-inspired Assistive Robotics: Service Dogs as a Model for Human-Robot Interaction and Mobile Manipulation, Hai Nguyen and Charles C. Kemp, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2008
• Probabilistic UHF RFID tag pose estimation with multiple antennas and a multipath RF propagation model, Travis Deyle, Charles C. Kemp, and Matt Reynolds, IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2008
• A Foveated Passive UHF RFID System for Mobile Manipulation, Travis Deyle, Cressel Anderson, Charles C. Kemp, and Matt Reynolds, IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2008
• Behaviors for Robust Door Opening and Doorway Traversal with a Force-Sensing Mobile Manipulator, Advait Jain and Charles C. Kemp, RSS Manipulation Workshop: Intelligence in Human Environments, 2008
• EL-E: An Assistive Robot that Fetches objects from Flat Surfaces, Hai Nguyen, Cressel Anderson, Alex Trevor, Advait Jain, Zhe Xu, and Charles C. Kemp, HRI Workshop on Robotic Helpers: User Interaction Interfaces and Companions in Assistive and Therapy Robots, 2008
• A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation, Charles C. Kemp, Cressel Anderson, Hai Nguyen, Alex Trevor, and Zhe Xu, 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2008