[robotics-worldwide] [meetings] RSS 2017 Workshop on Revisiting Contact - 2nd Call for Contributions

Jeannette Bohg jbohg at tue.mpg.de
Tue May 9 23:13:26 PDT 2017

RSS 2017 Workshop on
“Revisiting Contact - Turning a Problem into a Solution”
Boston, MA, USA - Saturday, July 15

Website: https://urldefense.proofpoint.com/v2/url?u=http-3A__rss2017ws.is.tuebingen.mpg.de_&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=MkDPe74Film3c9_p0kV1QQMm0E9-wPrr2Xa156Tr_9U&s=KILEMqTqfTFP1pJyYnmmLKIB3hKrYtvHL5VDwwp2XpI&e= 

Important dates:

Extended abstract  submission: May 20, 2017
Notification of acceptance: June 3, 2017
Camera-ready paper due: June 16, 2017


Physical contact used to be a problem in robotic manipulation research.
Today, it seems to be the solution. For example, object manipulation
behaviours which maximize contact and exploit contact constraints with
the environment are very robust. Furthermore, physical interaction with
the environment facilitates perception by creating rich, informative
sensory signals that would otherwise not be present. Evidence both in
humans and robots shows that these two principles of (i) exploiting
contact constraints and (ii) interactive perception are essential for robust
manipulation and perception under uncertainty. Yet, autonomous
generation of the underlying behaviours or chaining them together
remains a challenge. Existing, traditional contact models are based on a
powerful and concise mathematical formalization. They make simplifying
assumptions such as stable, non-slipping point contacts or Coulomb
friction that ensure computational tractability. While this allows elegant
solutions to multi-contact planning, many of these assumptions do not
translate well into the real world that is riddled by uncertainty. The
simplification may also limit the opportunities to exploit contact as they
consider only contacts between hand and the object, ignore contacts of
surface patches, sliding contacts, and seldom consider the perceptual
information gain from contact interaction.

The central question of this workshop is how we bridge the gap between
the traditional, model-based approaches and the promising
contact-seeking behaviours that recently emerged as an alternative for
achieving robust manipulation and perception. This workshop brings
together researchers from different areas such as autonomous grasping
and manipulation, robotic hand development, soft manipulation, whole-body
control for legged robots and interactive perception. All of these topics share
that at their core they are concerned with the problem of making and breaking
contact. Through presentations and discussions, we will establish a shared
understanding of the challenges we as a community must address to fully
develop this novel view of manipulation.

Call for Contributions:

We are soliciting extended abstracts in the RSS format (2-4 pages plus
references). Accepted contributions will be presented as a short spotlight talk
and in a poster session. Two particularly relevant contributions will be selected
to be presented in 20 minute talks. We are also soliciting live demos to be given
during the poster session. Live demos may accompany a submitted
paper but they are not required to (i.e. standalone demos of existing work
will be considered).

Topics include (but are not limited to):
	• Exploitation of contact constraints
	• Soft manipulation
	• Novel approaches to grasp and manipulation planning
	• Multimodal and interactive perception
	• Haptic (contact and force) sensing
	• Whole-body, multi-contact planning and control
	• Perception of contact
	• Novel contact models
	• Design and characterization of contact-exploiting, compliant hands
	• Scene perception for the exploitation of contact
	• Novel sensor designs for contact-rich interactions

Invited speakers:

	• Alberto Rodriguez (MIT)
	• Nancy Pollard (CMU)
	• Ludovic Righetti (MPI for Intelligent Systems)
	• Karen Liu (Georgia Tech)
	• Antonio Bicchi (University of Pisa / IIT)
	• Keyan Ghazi-Zahedi (MPI for Mathematics in the Sciences)
	• Chris Atkeson (CMU)
	• Oliver Kroemer (USC)
	• Yiannis Aloimonos (University of Maryland)


Please e-mail submissions and / or demo proposals to:
rss2017ws at tuebingen.mpg.de

Workshop Organizers:

Jeannette Bohg (MPI for Intelligent Systems)
Oliver Brock (TU Berlin)

Jeannette Bohg
Senior Research Scientist 
Autonomous Motion Department
MPI for Intelligent Systems
+49 7071 601 1734

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