Robotics: Science and Systems - Robot Manipulation: Sensing and Adapting to the Real World
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Visit the 2008 workshop.


pdf version of this schedule

When and Where

Saturday, June 30th, 2007 in room 1116E and the atrium of the Klaus Building, which is building 153 on the Georgia Tech campus. Talks will be held in the auditorium. Posters, demonstrations, and breaks will take place in the atrium.


9:00-9:05 Welcome from the organizers
Tactile Sensing
9:05-9:30 Touch Based Perception for Object Manipulation (pdf)
Anna Petrovskaya, Oussama Khatib, Sebastian Thrun, and Andrew Y. Ng
9:30-9:55 An Experiment in the Use of Manipulation Primitives and Tactile Perception for Reactive Grasping (pdf)
Antonio Morales, Mario Prats, Pedro Sanz, and Angel P. Pobil
9:55-10:20 Grasping POMDPs: Theory and Experiments (pdf)
Ross Glashan, Kaijen Hsiao, Leslie Pack Kaelbling, and Tomás Lozano-Pérez
10:20-11:10 Poster and demo session #1
(refreshments from 10:30-10:45)
  1. Tactile Sensing Arrays for Humanoid Robots (poster) (paper)
    Ravinder S. Dahiya, Maurizio Valle, Giorgio Metta, and Leandro Lorenzelli
  2. Guiding Grasping with Proprioception and Markov Models (pdf)
    Peter Deckers, Aaron M. Dollar, and Robert D. Howe
  3. A Switching Control Approach to Haptic Exploration for Quality Grasps (pdf)
    Di Wang, Brian T. Watson, and Andrew H. Fagg
  4. Optimal Reaching and Balancing for Humanoid Robots (pdf)
    Juyong Park, Bokman Lim, Jaeyoung Haan, and F.C. Park
  5. A Framework for Visually Guided Haptic Exploration with Five Finger Hands (pdf)
    A. Bierbaum, K. Welke, D. Burger, T. Asfour, and R. Dillmann
  6. Learning Sequences of Contact-relative Motions for Grasping
    Robert Platt
11:10-11:30 Discussion on tactile sensing
Topics may include:
1. How much can be achieved with tactile sensing, and what are its limits?
2. How can tactile sensing best be integrated with control?
3. What are the main challenges in tactile sensing for manipulation?
4. What are the advantages and disadvantages with respect to other forms of sensing?
5. For what real-world applications is this modality best suited?
Low-dimensional Control
11:30-11:55 2D Subspaces for User-Driven Robot Grasping (pdf)
Aggeliki Tsoli and Odest Chadwicke Jenkins
11:55-12:20 Dexterous Grasping via Eigengrasps: A Low-dimensional Approach to a High-complexity Problem (pdf)
Matei Ciocarlie, Corey Goldfeder, and Peter Allen
12:20-12:30 Discussion on low-dimensional control
Topics may include:
1. How can sensing and low-dimensional control complement one another?
2. What real-world manipulation tasks could be performed with low-dimensional control?
3. Are there inherently complex manipulation tasks?
4. How should task complexity be characterized?
12:30-2:00 Lunch
2:00-2:05 Welcome back and introduction
2:05-2:35 Keynote: Andrew Ng
2:35-3:30 Poster and demo session #2
(refreshments from 2:45-3:00)
  1. Learning Behavior-Grounded Tool Affordances with Generalization Across Different Tools (pdf)
    Jivko Sinapov and Alexander Stoytchev
  2. A New Mobile Manipulation Platform for Automatic Coffee Retrieval (pdf)
    Cressel Anderson, Ben Axelrod, J. Philip Case, Jaeil Choi, Martin Engel, Gaurav Gupta, Florian Hecht, John Hutchison, Niyant Krishnamurthi, Jin Han Lee, Hai Dai Nguyen, Richard Roberts, John G. Rogers, and Alexander J. B. Trevor
  3. Learning Robot Soccer from Demonstration: Ball Grasping (pdf)
    Daniel H. Grollman and Odest Chadwicke Jenkins
  4. Hierarchical Integration of Local 3D Features for Probabilistic Pose Recovery (pdf)
    Renaud Detry and Justus Piater
  5. Approaching Asimov's 1st Law II: The Impact of the Robot's Weight Class (video) (pdf)
    Sami Haddadin, Alin Albu-Schaffer, Michael Strohmayr, and Gerd Hirzinger
  6. Demo: Two Safety Solutions Specific to Service Manipulators (pdf)
    William Townsend
  7. Demo: Precise Target Localization in a Changing Pick & Place Environment (pdf)
    Tino Perucchi and Hansruedi Früh
  8. Demo: The Shadow Hand (pdf)
    Armando De La Rosa
Visual Sensing
3:30-3:55 A Framework for Door Localization and Door Opening Using a Computer Controlled Wheelchair for People Living with Mobility Impairments (pdf)
Alexander Andreopoulos and John K. Tsotsos
3:55-4:20 Extracting Planar Kinematic Models Using Interactive Perception (pdf)
Dov Katz and Oliver Brock
4:20-4:45 Haptically Guided Teleoperation for Learning Manipulation Tasks (pdf)
Ayanna M. Howard and Chung Hyuk Park
4:45-5:00 Discussion on visual sensing
Topics may include:
1. In what ways is vision for manipulation a distinct area of research relative to areas emphasized by the computer vision community?
2. What are the main challenges in visual sensing for manipulation?
3. What are the advantages and disadvantages with respect to other forms of sensing?
4. For what applications is this modality best suited?
5. How can human-robot interaction (HRI) best support autonomous robots that sense and adapt to the real world?
The Future
Lightning talks
(short talks <= 4 minutes each, sign up during the day, time allotted will depend on demand and review by the organizers)
5:12-5:40 Discussion of future real-world applications of autonomous manipulation.
(raw discussion notes - pdf file)
Goals include:
1. Create a list of promising applications.
2. Identify technical challenges impeding these applications.
3. Create a list of milestones for research in order to enable these applications.
5:40-6:00 Planning Session for Next Year