Schedule for the RSS 2006 Workshop: Manipulation for Human Environments
8:00-9:00 Coffee & baked goods
9:00-9:05 Welcome from the organizers
Session on platform design:
9:05-9:30
The UMass Mobile Manipulator UMan: An Experimental Platform for Autonomous Mobile
Manipulation
Dov Katz, Emily Horrell, Yuandong Yang, Brendan Burns, Thomas Buckley, Anna Grishkan, Volodymyr
Zhylkovskyy, Oliver Brock, and Erik Learned-Miller
9:30-9:55
A Robust Compliant Grasper for Unstructured Environments
Aaron Dollar and Robert Howe
9:55-10:20
Designing a Self-Stabilizing Robot For Dynamic Mobile Manipulation
Patrick Deegan, Bryan Thibodeau, and Rod Grupen
10:20-10:35
Discussion on platform design
Topics may include: 1. off-the-shelf vs. custom robots 2. design trade-offs (eg. specialized vs. general
purpose) 3. applications and their implications for design 4. performance requirements and evaluation
10:35-10:50 Tea break
Session on learning:
10:50-11:15
Uncovering Success in Manipulation
Chad Jenkins, Alan Peters, and Robert Bodenheimer
11:15-11:40
Learning to Grasp Novel Objects using Vision
Ashutosh Saxena, Justin Driemeyer, Justin Kearns, and Andrew Ng
11:40-12:05
A Framework for Learning Declarative Structure
Stephen Hart, Shichao Ou, John Sweeney, Rod Grupen
12:05-12:20
Discussion on learning
Topics may include: 1. What could/should be learned? 2. learning methodologies (teleoperation, simulation,
demonstration, etc.) 3. learning vs. heuristics and hand designed solutions 4. preferred algorithms, features.
Session on task execution:
1:50-1:55 Introduction to the afternoon session
1:55-2:35 Keynote : Rodney Brooks
2:35-3:00
Operating Humanoid Robots in Human Environments
Neo Ee Sian, Takeshi Sakaguchi, Kazuhito Yokoi, Yoshihiro Kawai, and Kenichi Maruyama
3:00-3:25
Real-time Planning of Mobile Manipulation in Dynamic Environments of Unknown Changes
John Vannoy and Jing Xiao
3:25-3:50
Humanoid Mobile Manipulation Using Controller Refinement
Rob Piatt, Robert Burridge, Myron Diftler, Jodi Graf, Mike Goza, and Eric Huber
3:50-5:00
Poster & demo session with refreshments:
A Basic Level of Attentional Behavior for Manipulation, Interaction and Learning
Stephen Hart, Shichao Ou, John Sweeney, and Rod Grupen
Imitation Learning of Whole-Body Grasps
Kaijen Hsiao and Tomas Lozano-Perez
Demonstration of Human-in-the-Loop Control of an Assistive Robot Arm
Kate Tsui and Holly Yanco
TBA
Rob Piatt
TBA
Eduardo Torres-Jara
TBA
Aaron Edsinger
5:00-5:15
Lightning talks
(short talks < 5 minutes each, sign up during the day, time allotted will depend on demand)
5:15-6:00
Discussion of grand challenges for manipulation in human environments
Goals for the discussion include: 1. create a list of grand challenges 2. create a list of core capabilities 3.
discuss methodologies/approaches for achieving these tasks 4. solicit predictions for the future of manipulation
in human environments
