Mobile Manipulation

Andy1The goal of Autonomous Mobile Manipulation is the execution of complex manipulation tasks in unstructured and dynamic environments, in which cooperation with humans may be required. To achieve this goal, several scientific and engineering challenges, currently beyond the state of the art in robotics, must be addressed. These include generality across tasks and novel situations, operating in high-dimensional state spaces, managing uncertainty in sensing and actuation, and tight integration of planning, perception, and control. The scope of this technical committee encompasses research activities that address one or more of the afore mentioned challenges of mobile manipulation.

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Mission statement

The ultimate goal of Autonomous Mobile Manipulation is the execution of complex manipulation tasks, in unstructured and dynamic environments, in which cooperation with humans may be required. To achieve this goal, several scientific and engineering challenges, currently beyond the state of the art in robotics, must be addressed.

  • GENERALITY: Mobile manipulation systems must perform a variety of tasks, acquire new skills, and apply these skills in novel situations. They must be able to continually adapt and improve their performance.
  • HIGH DIMENSIONAL STATE SPACE: Versatile robotic systems must be equipped with many actuators and sensors, resulting in high-dimensional state spaces.
  • UNCERTAINTY: The ability to locomote, the required generality in task execution, and the usages of multiple sensors and actuators, make it impractical to engineer the entire environment for the task. As a result, mobile manipulation systems have to explicitly address problems that arise due to the uncertainty of sensing and actuation.
  • SYSTEM COMPLEXITY: Mobile manipulation systems require the integration of a large number of hardware components for sensing, manipulation, and locomotion as well as the orchestration of algorithmic capabilities in perception, manipulation, learning, control, planning, etc.

The scope of this technical committee encompasses research activities that address one or more of the aforementioned challenges of mobile manipulation.

Website:

http://www.mobilemanipulation.org