Christian Smith

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Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans(More)
In this paper, we propose an adaptation mechanism for robot behaviors to make robot-human interactions run more smoothly. We propose such a mechanism based on reinforcement learning, which reads minute body signals from a human partner, and uses this information to adjust interaction distances, gaze meeting, and motion speed and timing in human-robot(More)
We have developed a cohesive extraction based single document summarizer (COHSUM) based on coreference links in a document. The sentences providing the most references to other sentences and that other sentences are referring to, are considered the most important and are therefore extracted. Additionally, before evaluations of summary quality, a corpus(More)
In this paper we present a design study and technical specifications of a high performance robotic manipulator to be used for ball catching experiments using commercial off-the-shelf (COTS) components. Early evaluation shows that very good performance can be achieved using standardized PowerCube actuator modules from Amtec and a standard workstation using(More)
This paper presents a unified framework for Behavior Trees (BTs), a plan representation and execution tool. The available literature lacks the consistency and mathematical rigor required for robotic and control applications. Therefore, we approach this problem in two steps: first, reviewing the most popular BT literature exposing the aforementioned issues;(More)
This paper addresses the problem of robot interaction with objects attached to the environment through joints such as doors or drawers. We propose a methodology that requires no prior knowledge of the objects' kinematics, including the type of joint - either prismatic or revolute. The method consists of a velocity controller which relies on force/torque(More)
In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp(More)
In this work we present an adaptive control approach for pivoting, which is an in-hand manipulation maneuver that consists of rotating a grasped object to a desired orientation relative to the robot's hand. We perform pivoting by means of gravity, allowing the object to rotate between the fingers of a one degree of freedom gripper and controlling the(More)
The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally unstructured, a robot must deal with several types of uncertainties associated with the dynamics and kinematics of a door to achieve successful opening. The present paper proposes a dynamic force/velocity controller which uses(More)
Although previous studies have shown that errors occur in texts summarized by extraction based summarizers, no study has investigated how common different types of errors are and how that changes with degree of summarization. We have conducted studies of errors in extraction based single document summaries using 30 texts, summarized to 5 different degrees(More)