Although machine learning has improved the rate and ac-curacy at which robots are able to learn, ... more Although machine learning has improved the rate and ac-curacy at which robots are able to learn, there still exist tasks for which humans can improve performance signifi-cantly faster and more robustly than computers. While some ongoing work considers the role of human reinforce-ment in intelligent algorithms, the burden of learning is of-ten placed solely on the computer. These approaches neglect the expressive capabilities of humans, especially regarding our ability to quickly refine motor skills. In this paper, we propose a general framework for Motion Acquisition for Robots through Iterative Online Evaluative Training (MAR-IOnET). Our novel paradigm centers around a human in a motion-capture laboratory that "puppets" a robot in real-time. This mechanism allows for rapid motion development for different robots, with a training process that provides a natural human interface and requires no technical knowl-edge. Fully implemented and tested on two robotic plat-forms (one...
2012 IEEE International Conference on Robotics and Automation, 2012
Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to t... more Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required. Here, a manipulator is proposed that is robust, high-force, low-cost, and highly articulated without employing traditional actuators mounted at the manipulator joints. Rather, local tunable stiffness is coupled
This paper describes the research focus and ideas incorporated in the TT-UT Austin Villa Standard... more This paper describes the research focus and ideas incorporated in the TT-UT Austin Villa Standard Platform league team entering the RoboCup com- petition in 2010. TT-UT Austin Villa is a combinded team representing The Uni- versity of Texas at Austin (UT) and Texas Tech Univesitry (TT).
As robots become more commonplace, the tools to facilitate knowledge transfer from human to robot... more As robots become more commonplace, the tools to facilitate knowledge transfer from human to robot will be vital, especially for non-technical users. While some ongoing work considers the role of human reinforcement in intelligent algorithms, the burden of learning is often placed solely on the computer [2]. These approaches neglect the expressive capabilities of humans, especially regarding our ability to quickly refine motor skills. Thus, when designing autonomous robots that interact with humans, not only is it ...
Proceedings of the 10th International Conference on Interaction Design and Children - IDC '11, 2011
We present I/O Stickers, adhesive sensors and actuators that children can use to handcraft person... more We present I/O Stickers, adhesive sensors and actuators that children can use to handcraft personalized remote communication interfaces. By attaching I/O Stickers to special wirelessly connected greeting cards, children can invent ways to communicate with long-distance loved ones. Children decorate these cards with their choice of craft materials, creatively expressing themselves while making a functioning interface. The low-bandwidth connections --
Although machine learning has improved the rate and ac-curacy at which robots are able to learn, ... more Although machine learning has improved the rate and ac-curacy at which robots are able to learn, there still exist tasks for which humans can improve performance signifi-cantly faster and more robustly than computers. While some ongoing work considers the role of human reinforce-ment in intelligent algorithms, the burden of learning is of-ten placed solely on the computer. These approaches neglect the expressive capabilities of humans, especially regarding our ability to quickly refine motor skills. In this paper, we propose a general framework for Motion Acquisition for Robots through Iterative Online Evaluative Training (MAR-IOnET). Our novel paradigm centers around a human in a motion-capture laboratory that "puppets" a robot in real-time. This mechanism allows for rapid motion development for different robots, with a training process that provides a natural human interface and requires no technical knowl-edge. Fully implemented and tested on two robotic plat-forms (one...
2012 IEEE International Conference on Robotics and Automation, 2012
Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to t... more Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required. Here, a manipulator is proposed that is robust, high-force, low-cost, and highly articulated without employing traditional actuators mounted at the manipulator joints. Rather, local tunable stiffness is coupled
This paper describes the research focus and ideas incorporated in the TT-UT Austin Villa Standard... more This paper describes the research focus and ideas incorporated in the TT-UT Austin Villa Standard Platform league team entering the RoboCup com- petition in 2010. TT-UT Austin Villa is a combinded team representing The Uni- versity of Texas at Austin (UT) and Texas Tech Univesitry (TT).
As robots become more commonplace, the tools to facilitate knowledge transfer from human to robot... more As robots become more commonplace, the tools to facilitate knowledge transfer from human to robot will be vital, especially for non-technical users. While some ongoing work considers the role of human reinforcement in intelligent algorithms, the burden of learning is often placed solely on the computer [2]. These approaches neglect the expressive capabilities of humans, especially regarding our ability to quickly refine motor skills. Thus, when designing autonomous robots that interact with humans, not only is it ...
Proceedings of the 10th International Conference on Interaction Design and Children - IDC '11, 2011
We present I/O Stickers, adhesive sensors and actuators that children can use to handcraft person... more We present I/O Stickers, adhesive sensors and actuators that children can use to handcraft personalized remote communication interfaces. By attaching I/O Stickers to special wirelessly connected greeting cards, children can invent ways to communicate with long-distance loved ones. Children decorate these cards with their choice of craft materials, creatively expressing themselves while making a functioning interface. The low-bandwidth connections --
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Papers by Adam Setapen