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FRASIER

Fostering Resilient Aging with Self-Efficacy and Independence Enabling Robot

FRASIER: Fostering Resilient Aging with Self-Efficacy and Independence Enabling Robot

Our overarching goal in this research and development effort is to advance the capabilities of Toyota Human Support Robot’s (HSR) for a successful team performance and technology demonstration at the 2018 RoboCup@Home DSPL. We will achieve this goal by (1) leveraging our team’s robotics competition experience from the DARPA Robotics Challenge (DRC), NASA Sample Return Robot (SRR) Centennial Challenge, NASA Exploration Robo-Ops Challenge, and Intelligent Ground Vehicle Competition (IGVC), (2) developing a systematic model-based task validation methodology, (3) implementing novel perception based navigation, manipulation and human-robot interaction techniques, (4) developing novel autonomy techniques for mobile robot manipulation, (5) making the developed software available to the robotics community post competition to broaden the impact of our participation. Successful completion of this project will not only progress the technological readiness of autonomous personal service robots for practical applications but also contribute new knowledge and methods to the RoboCup@Home DSPL community.

Qualification Video

Team Description Paper

Our Team Description Paper for the RoboCup@Home 2018 can be accessed from this link.

Team

 Taşkın Padır

Taşkın Padır

Associate Professor

Thomas Harmon

Thomas Harmon

Undergraduate

Tarik Kelestemur

Tarik Kelestemur

PhD Student

Naoki Yokoyama

Naoki Yokoyama

Master's Student

Anas Abou Allaban

Anas Abou Allaban

Undergraduate

Relevant Publications

Journal Publications

  • Sinyukov, D., Desmond, R., Dickerman, M., Fleming, J., Scahufeld, J., Padir, T., “Multi-modal Control Framework for a Semi-Autonomous Wheelchair Using Modular Sensor Designs”, Journal of Intelligent Service Robotics, 2014.
  • Sadasivam, R. S., Luger, T. M., Coley, H. L., Taylor, B. B., Padir, T., Ritchie, C. S., Houston, T. K., “Robot-assisted home hazard assessment for fall prevention: a feasibility study,” Journal of Telemedicine and Telecare, 2013.
  • Schirner, G., Erdogmus, D., Chowdhury, K., Padir, T.,“The Future of Human-in-the-Loop Cyber-Physical Systems,” IEEE Computer , vol.46, no.1, pp.36-45, Jan. 2013

Conference Publications

  • Dimitrov, V.; Padir, T., “A shared control architecture for human-in-the-loop robotics applications,” Robot and Human Interactive Communication, 2014 RO-MAN: The 23rd IEEE International Symposium on , vol., no., pp.1089,1094, 25-29 Aug. 2014
  • DeDonato, M., Dimitrov, V., Padir, T., “Towards an Automated Checked Baggage Inspection System Augmented with Robots,” Proc. SPIE 9074, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense XIII, Washington DC, May 29, 2014.
  • Tremblay, T., Padir, T., “Modular Robot Arm Design for Physical Human-Robot Interaction,” Proceedings of the IEEE Systems, Man, and Cybernetics (SMC) Conference, Manchester, England, August 2013.
  • H. Nezamfar, D. Sinyukov, U. Orhan, D. Erdogmus, T. Padir, “Brain Interface to Control a Tele-Operated Robot,” Proceedings of the Fifth International Brain-Computer Interface Meeting, 2013.
  • Ross Desmond, Matthew Dickerman, James Fleming, Dmitry Sinyukov, Jerome Schaufeld, Taskin Padir, “Development of Modular Sensors for Semi- Autonomous Wheelchairs,” Proc. IEEE Int. Conf. on Technologies for Practical Robot Applications, Woburn, MA, 2013.
  • Taskin Padir, Michael Gennert, “Towards a Unified CPS Education: Lessons Learned from a Cross-Disciplinary Robotics Engineering Program,” First Workshop on Cyber-Physical Systems Education (CPS-Ed 2013), Philadelphia, PA, 2013.
  • Malehorn, K. S., Liu, W., Im, H., Bzura, C., Padir, T., Tulu, B., “The Emerging Role of Robotics in Home Health Care,” Proceedings of Americas Conference on Information Systems (AMCIS), August 4-7, 2012, Seattle, Washington, USA.
  • Bzura, C., Im, H., Liu, W., Malehorn, K. S., Padir, T., Tulu, B., “A Taxonomy for User- Healthcare Robot Interaction,” Proceedings of the 34th Annual International IEEE EMBS Conference, San Diego, CA, USA, 2012
  • Malehorn, K. S., Liu, W., Im, H., Bzura, C., Padir, T., Tulu, B., “Design Requirements for Personal Health Care Robots”, American Medical Informatics Association Annual Symposium, Chicago, IL, USA, November 3-7, 2012.
  • Beach R., Gennert M., Michalson W., Van de Ven J., Padir T., Tryggvason G., Fischer G., Robotics Innovations Competition and Conference (RICC): Building Community Between Academia and Industry Through a University-Level Student Competition, Proceedings of the 2010 ASEE Annual Conference, Louisville, KY, June 2010.

Prior Deliverables

All of the open-source code generated by our lab is maintained at Github.

In addition, we actively release ROS packages that we believe would be useful to other research groups in robotics through our release repository.

Scroll through posters demonstrating some of our previous efforts on in-home assistance robotics below. Click on the PDF button to download a PDF of the full-sized posters.

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