Robotics: Science and Systems - Manipulation for Human Environments
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Visit the 2007 workshop.


pdf version of this schedule
text file version of this schedule

When and Where

Saturday, August 19th, 2006 at The Inn at Penn in Woodlands Ballroom B.


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 (pdf)
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 (pdf)
Aaron Dollar and Robert Howe
9:55-10:20 Designing a Self-Stabilizing Robot For Dynamic Mobile Manipulation (pdf)
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 for human environments 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 (pdf)
Chad Jenkins, Alan Peters, and Robert Bodenheimer
11:15-11:40 Learning to Grasp Novel Objects using Vision (pdf)
Ashutosh Saxena, Justin Driemeyer, Justin Kearns, and Andrew Ng
11:40-12:05 A Framework for Learning Declarative Structure (pdf)
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, etc.
12:20-1:50 Lunch
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 (pdf)
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 (pdf)
John Vannoy and Jing Xiao
3:25-3:50 Humanoid Mobile Manipulation Using Controller Refinement (pdf)
Rob Platt, Robert Burridge, Myron Diftler, Jodi Graf, Mike Goza, and Eric Huber
 3:50- 5:00 Poster and demo session with refreshments
  1. A Basic Level of Attentional Behavior for Manipulation, Interaction and Learning (pdf)
    Stephen Hart, Shichao Ou, John Sweeney, and Rod Grupen
  2. Imitation Learning of Whole-Body Grasps (pdf)
    Kaijen Hsiao and Tomas Lozano-Perez
  3. Demonstration of Human-in-the-Loop Control of an Assistive Robot Arm (pdf)
    Kate Tsui and Holly Yanco
  4. TBA
    Rob Platt
  5. TBA
    Eduardo Torres-Jara
  6. 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 on grand challenges for manipulation in human environments (discussion notes - text file) (short pdf presentation of the discussion results)
Goals 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

Questions? Contact us: heman at