Publications [#330209] of Christopher Tralie

Papers Published

1. Deyle, T; Tralie, CJ; Reynolds, MS; Kemp, CC, In-hand radio frequency identification (RFID) for robotic manipulation, 2013 Ieee International Conference on Robotics and Automation (May, 2013), pp. 1234-1241, IEEE [doi]
   (last updated on 2019/01/06)

   Abstract:
   We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed near-field antennas enables our sensor to obtain spatial information from tags at ranges of less than 1 meter. In this work, we characterize the near-field sensor's ability to detect tagged objects in the robots manipulator, present robot behaviors to determine the identity of a grasped object, and investigate how additional RF signal properties can be used for 'pre-touch' capabilities such as servoing to grasp an object. The future combination of long-range (far-field) and short-range (near-field) UHF RFID sensing has the potential to enable roboticists to jump-start applications by obviating or supplementing false-positive-prone visual object recognition. These techniques may be especially useful in the healthcare and service sectors, where mis-identification of an object (for example, a medication bottle) could have catastrophic consequences. © 2013 IEEE.