Zackory M. Erickson

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Online detection of anomalous execution can be valuable for robot manipulation, enabling robots to operate more safely, determine when a behavior is inappropriate, and otherwise exhibit more common sense. By using multiple complementary sensory modalities, robots could potentially detect a wider variety of anomalies, such as anomalous contact or a loud(More)
During robot-assisted dressing, a robot manipulates a garment in contact with a person's body. Inferring the forces applied to the person's body by the garment might enable a robot to provide more effective assistance and give the robot insight into what the person feels. However, complex mechanics govern the relationship between the robot's end effector(More)
General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a proof-of-concept robotic system for assistive feeding that consists of a Willow Garage PR2, a high-level web-based interface, and specialized(More)
We present a controller that allows an armlike manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or punching through the deforming cloth. Our controller aggregates force information from a number of haptic-sensing spheres all(More)
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can result in a robot indirectly applying(More)
Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robotassisted dressing, few have considered how a robot can manage errors in human pose estimation, or adapt to human motion in real time during dressing assistance. In addition, estimating(More)
Material recognition enables robots to incorporate knowledge of material properties into their interactions with everyday objects. For instance, material recognition opens up opportunities for clearer communication with a robot, such as “bring me the metal coffee mug”, and having the ability to recognize plastic versus metal is crucial when using a(More)
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