Publications
Journals
- 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.
- Task-centric optimization of configurations for assistive robots. Ariel Kapusta and Charles C. Kemp, Autonomous Robots, 2019.
- Model Predictive Control for Fast Reaching in Clutter. M. Killpack, A. Kapusta, and CC Kemp. Autonomous Robots, 2015.
Conferences
- 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.
- 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.
- 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.
- 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.
- 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.
- Person Tracking and Gesture Recognition in Challenging Visibility Conditions Using 3D Thermal Sensing. A Kapusta and P Beeson, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2016)
- Data-Driven Haptic Perception for Robot-Assisted Dressing. A Kapusta, W Yu, T Bhattacharjee, CK Liu, G Turk, and CC Kemp, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2016)
- Task-Centric Selection of Robot and Environment Initial Configurations to Perform Assistive Tasks. A Kapusta, D Park, and CC Kemp. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2 015)
- Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments. D Park, A Kapusta, J Hawke, and CC Kemp. IEEE-RAS International Conference on Humanoid Robots. (Humanoids 2014)
- Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter. D Park, A Kapusta, Y Kim, J Rehg, and CC Kemp. IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2014)
- Rapid Categorization of Object Properties from Incidental Contact with a Tactile Sensing Robot Arm. T Bhattacharjee, A Kapusta, J Rehg, and CC Kemp. IEEE-RAS International Conference on Humanoid Robots. (Humanoids 2013)
Workshops
- Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities, A Kapusta, Y Chitalia, and CC Kemp, RO-MAN 2016 Workshop on behavior adaptation, interaction and learning for assistive robots (BAILAR 2016).
- Optimization of Robot Configurations for Assistive Tasks. A Kapusta and CC Kemp, RSS 2016 Workshop on Planning for Human-Robot Interaction: Shared Autonomy and Collaborative Robotics, 2016.
- A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning. T Bhattacharjee*, PM Grice*, A Kapusta*, MD Killpack*, D Park*, and CC Kemp. IROS 2014 Workshop: 3rd Workshop on Robots in Clutter: Perception and Interaction in Clutter. September 18, 2014. (*Listed Alphabetically) (IROS 2014)