{"648261":{"#nid":"648261","#data":{"type":"event","title":"PhD Defense by Zackory Erickson","body":[{"value":"\u003Cp\u003ETitle:\u0026nbsp;\u003Cstrong\u003ERobotic Caregivers \u0026mdash; Simulation and Capacitive Servoing for Physical Human-Robot Interaction\u003C\/strong\u003E\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\nDate:\u0026nbsp;\u003Cstrong\u003ETuesday, July 6th\u003C\/strong\u003E\u003Cbr \/\u003E\r\nTime:\u0026nbsp;\u003Cstrong\u003E3\u0026nbsp;PM - 5 PM (EDT)\u003C\/strong\u003E\u003Cbr \/\u003E\r\nLocation: Zoom meeting \u0026mdash;\u0026nbsp;\u003Ca href=\u0022https:\/\/cmu.zoom.us\/j\/95578462028?pwd=bVA2NVZGVXByTkowOGVJUEZVM3JCUT09\u0022\u003Ehttps:\/\/cmu.zoom.us\/j\/95578462028?pwd=bVA2NVZGVXByTkowOGVJUEZVM3JCUT09\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EMeeting ID: 955 7846 2028\u003C\/p\u003E\r\n\r\n\u003Cp\u003EPasscode: 785742\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cbr \/\u003E\r\n\u003Cstrong\u003EZackory Erickson\u003C\/strong\u003E\u003Cbr \/\u003E\r\nRobotics PhD Candidate\u003Cbr \/\u003E\r\nSchool of Electrical and Computer Engineering\u003Cbr \/\u003E\r\nGeorgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Ca href=\u0022http:\/\/zackory.com\u0022\u003Ehttp:\/\/zackory.com\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cbr \/\u003E\r\n\u003Cstrong\u003ECommittee\u003C\/strong\u003E\u003Cbr \/\u003E\r\nProf. Charles C. Kemp (Advisor)\u0026nbsp;\u0026mdash;\u0026nbsp;Dept. of Biomedical Engineering, Georgia Institute of Technology\u003Cbr \/\u003E\r\nProf. C. Karen Liu\u0026nbsp;\u0026mdash;\u0026nbsp;Computer Science Dept., Stanford University\u003Cbr \/\u003E\r\nProf. Sonia Chernova\u0026nbsp;\u0026mdash;\u0026nbsp;School of Interactive Computing, Georgia Institute of Technology\u003Cbr \/\u003E\r\nProf. Greg Turk\u0026nbsp;\u0026mdash;\u0026nbsp;School of Interactive Computing, Georgia Institute of Technology\u003Cbr \/\u003E\r\nProf. Pieter Abbeel \u0026mdash; Dept. of Electrical Engineering and Computer Sciences, UC Berkeley\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\n\u003Cstrong\u003EAbstract\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EPhysical human-robot interaction and robotic assistance presents an opportunity to benefit the lives of many people, including the\u0026nbsp;millions of older adults and people with physical disabilities, who have difficulty performing activities of daily living (ADLs) on their own.\u0026nbsp;Yet, physical robotic assistance presents several challenges, including risks associated with physical\u0026nbsp;human-robot interaction, difficulty sensing the human body, and a lack of tools for benchmarking and training physically\u0026nbsp;assistive robots.\u0026nbsp;To address\u0026nbsp;each of these core challenges in robotic caregiving, this dissertation presents techniques spanning\u0026nbsp;the intersection of machine learning, physics simulation, sensing, and\u0026nbsp;physical human-robot interaction.\u0026nbsp;First, I will introduce a\u0026nbsp;method inspired by human perspective-taking which allow assistive robots to predict how their future\u0026nbsp;actions will apply forces to a person\u0026#39;s body.\u0026nbsp;I will then present capacitive servoing, a new sensing technique for robots to\u0026nbsp;sense human limb motion and\u0026nbsp;track trajectories along the body during physical assistance.\u0026nbsp;Finally, I will show how we can develop intelligent robotic\u0026nbsp;caregivers via simulation and virtual reality, and I will introduce Assistive Gym, the first physics simulation framework for\u0026nbsp;benchmarking and training physically assistive robots.\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Robotic Caregivers \u2014 Simulation and Capacitive Servoing for Physical Human-Robot Interaction"}],"uid":"27707","created_gmt":"2021-06-21 16:07:34","changed_gmt":"2021-06-21 16:07:34","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2021-07-06T16:00:00-04:00","event_time_end":"2021-07-06T18:00:00-04:00","event_time_end_last":"2021-07-06T18:00:00-04:00","gmt_time_start":"2021-07-06 20:00:00","gmt_time_end":"2021-07-06 22:00:00","gmt_time_end_last":"2021-07-06 22:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"174045","name":"Graduate students"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}