[robotics-worldwide] [meetings] IROS 2016 Workshop on Closed-loop Grasping and Manipulation: Challenges and Progress

Yasemin Bekiroglu Y.Bekiroglu at bham.ac.uk
Mon Sep 5 05:20:13 PDT 2016


IROS 2016 Workshop on Closed-loop Grasping and Manipulation: Challenges and
Progress
Full-Day Workshop, October 14th, Daejeon, Korea

Abstract
----------------------------------

Despite decades of research, robust autonomous robotic grasping and
manipulation at a level approaching human skills remains an elusive goal.
One reason is the difficulty in dealing with the inevitable uncertainties
and unforeseen situations encountered in dynamic and unstructured
application environments. Unknown information required to plan grasps such
as object shape and pose needs to be extracted from the environment through
sensors. However, sensory measurements are noisy and associated with a
degree of uncertainty. Furthermore, object parameters relevant to grasp
planning, such as friction and mass, may not be accurately estimated. In
real-world settings, these issues can lead to grasp failures with serious
consequences.
 
Additionally, physical interaction during object manipulation in many
scenarios (e.g., daily life, industrial settings), can go well beyond
grasping for picking and placing. Examples of these tasks include opening a
door, screwing a light bulb, using a tool and writing. They may require
actions such as caging, pushing, sliding, etc. Task accomplishment depends
not only on the contact interactions between object and the
manipulator/hand/finger, but also in particular on the exploitation of the
environments. Recent studies to achieve such tasks are scattered across many
different topics: passive mechanical adaptation through compliant hand
design, caging, pushing, extrinsic dexterity, exploiting environmental
constraints and dynamic grasp adaptation, etc. Despite these efforts, there
is still no generic, principled approach to encode varying task constraints
at the same time in order to deal properly with the various uncertain
circumstances during interaction. Skills to reason about the task
requirements, to ground these in the sensory information, to devise reactive
behaviors in order to respond compliantly to uncertainties, to choose and
execute optimal actions are crucial for reliable physical interactions such
as object manipulation. In order to tame the complexity, most of these
issues have been studied in isolation and most object manipulation systems
are still open loop. This greatly limits the applicability of such
approaches in real-world settings.
 
This workshop focuses on task representation of object manipulation to
enable multi-contact manipulation planning and reactive behaviors that can
eventually close the loop between planning and control and lead to robust
manipulation that can deal with uncertainty. The aim is to connect
researchers from different backgrounds such as planning, control, learning,
design and perception in order to set the basis and define core open
problems for object manipulation. Furthermore, we want to discuss
advantages, limitations, challenges and progress of different approaches
pertaining to the workshop topic.


Call for Papers
-------------------
We welcome the submission of two page extended abstracts describing new or
ongoing work. Final instructions for poster presentations and talks will be
available on the workshop website after decision notifications have been
made. Accepted presenters will have the option of submitting a full length
six-page paper. All contributed papers will be accessible on the workshop
website. Submissions should be in .pdf format. Please send submissions to
Y.Bekiroglu at bham.ac.uk with the subject line "IROS 2016 Workshop
Submission”. For any questions or clarifications, please contact the
organizers.


Invited Speakers:
----------------------
Kenji Tahara (Kyushu University)
Kensuke Harada (Osaka University)
Alberto Rodriguez (MIT)
Oliver Brock (TU-Berlin)
Yu Sun (University of South Florida)
Todor Stoyanov (Orebro University)
Maximo A. Roa (DLR)
Tetsuyou Watanabe (Kanazawa University)
Tamim Asfour (Karlsruhe Institute of Technology)
Anca Dragan (UC Berkeley)
Daniel Kappler (Max-Planck Institute for Intelligent Systems)
Robert Platt (Northeastern University)
Serena Ivaldi (INRIA)


Important Dates
---------------------
Abstract submission deadline: September 23, 2016
Acceptance notification: September 30, 2016
Final materials due: October 7, 2016
Workshop date: October 14, 2016


Organizers
--------------
Yasemin Bekiroglu (University of Birmingham)
Miao Li (EPFL)
Florian Pokorny (KTH)
Robert Krug (University of Örebro)
Aude Billard (EPFL) 

Please visit the webpage
https://urldefense.proofpoint.com/v2/url?u=http-3A__www.h2020romans.eu_-23-21closed-2Dloop-2Dgrasping-2Dand-2Dmanipulation_i4u03&d=DQIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=hVbxJM21uVx2ER5qwXtOu0z7DtFsojzT_xxPbx97VcI&s=YC5XXtuXuTlvN4PL1AhXodN3lAczo9kJKacJCwAni9M&e=  for
further information.





-----
Yasemin Bekiroglu, Ph.D.
Postdoctoral Researcher
University of Birmingham
Department of Mechanical Engineering
--
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