Research on robotic manipulation has achieved important theoretical and technical advances in the last 50 years. Robot manipulators in factories have become a key element of industrial manufacturing, and are widely considered to be a success story for robotics. However, there remain several challenges in extending this success beyond factory floors. Successful demonstrations in specific tasks have not yet yielded general and integrated manipulation systems that can operate lifelong in uncertain environments with and around humans.
The objective of the workshop was to discuss, understand and underline the key challenges inherent in robot manipulation that prevented its transition towards becoming a technology. Towards this end, the workshop hosted review and research presentations, and a closing panel discussion.
As part of the workshop, we have also compiled a set of seminal works suggested by our invited speakers.
|Opening||Siddhartha Srinivasa and Erol Sahin|
|Invited talk: What has been achieved and what remains to be done: Much and much.||Matt Mason, CMU|
|Invited talk: Minimalist Design, where Hardware gets Hard||William T. Townsend, Barrett Tech.|
|Invited talk: How to think about robot hands and grasping||Robert D. Howe, Harvard U.|
|Invited talk: Manipulation planning: past, present and future.||Tomás Lozano-Pérez, MIT|
|Invited talk: Learning and Optimization in Robotic Manipulation||Pieter Abbeel, UC Berkeley|
|Multi-Robot Grasp Planning for Sequential Assembly Operations||Mehmet Dogar, MIT|
|Kinodynamic Reconfiguration Planning with Physics Simulations||Jennifer King, CMU|
|Improving Path Execution in Deformable Environments Using Reactive Cost-space Control||Calder Phillips-Grafflin, WPI|
|Planning Grasp Strategies That Exploit Environmental Constraints||Oliver Brock, TU Berlin|
|Geometry-Based Manipulation through Robotic Caging||Yusuke Maeda, Yokohama National U.|
|Generalizing autonomously segmented complex trajectories based on learned task-specific environment metrics||Simon Hangl, U. of Innsbruck|
|DLO manipulation planning with contacts||Olivier Roussel, LAAS|
|Uncalibrated Visual Servoing as a Complement for Small Object Manipulation in 3D Perception Robotic Systems||Oscar Ramirez, U. of Alberta|
|Tight Coupling between Manipulation and Perception using SLAM||Benzun Pious Wisely Babu, WPI|
|Improvement through Interaction in Robot Manipulation||Erol Sahin, Middle East Technical U. & CMU|