Publications

Preprints

Force/Torque Sensing for Soft Grippers using an External Camera, Jeremy A. Collins, Patrick Grady, Charles C. Kemp, Preprint on Arxiv.org, 2022.

2022

Example of visual pressure estimation from a single RGB image of a soft gripper. 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)
Four examples of tasks performed by the robot. 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)
Robot learns to manipulate blankets using physics simulations. 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.
Example of inferring 3D body pose and body pressure from a depth image. 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.
Example of capacitive servoing used for dressing assistance. 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

Humans and robots both have difficulty recognizing materials given ambiguous initial conditions. 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 estimates where contact should take place and then finds a grasp that achieves comparable contact. 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

Learned policy controls a tool to move four regions of liquid to a target. 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 ExerciseTiffany 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

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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
collaborative_system_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.
dressing_2016_square 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.
Henry_using_autobed 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]
 RSS2016 WS AMM Image 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
anomaly_detection_150_150 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.
feeding_feature_opt 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 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

handheld_workshop 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
darci_arm_partially_extended Model predictive control for fast reaching in clutter, Marc D. Killpack, Ariel Kapusta, and Charles C. KempAutonomous Robots, (online version) 2015
base_selection 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
touch_vision 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
rss Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration ContactTapomayukh Bhattacharjee, Joshua Wade, and Charles C. Kemp, Robotics Science and Systems (RSS), 2015
efri 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 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
 incidental_contact 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
lic 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
navigating_with_rfid 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
haptic_map_planning_dense_clutter 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

robot_init_touch 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
manip_success_learn Autonomously Learning to Visually Detect Where Manipulation Will Succeed, Hai Nguyen and Charles C. Kemp, Autonomous Robots, 2013
 potential_rob_assist 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_clutter 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 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_tact_sens 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_whole_arm 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
RFH_RAM_thumbnail 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_robot_help? 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
strechable_sensors 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
data_driven_object_centric Improving Robot Manipulation with Data-Driven Object-Centric Models of Everyday Forces, Advait Jain and Charles C. Kemp, Autonomous Robots, 2013
rfid_construction 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
ROSCO_thumbnail 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 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
wouse 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
wiping_task 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
 water_delivery 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_pref
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
domesticated_robot 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

 2010

 2009

2008