Motion Capabilities for Autonomous Mobile Manipulation
Speaker: Oliver Brock , University of Massachusetts, Amherst
Date: November 30 2006
Time: 3:00PM to 4:00PM
Location: 32-D463 (Star)
Host: Daniela Rus, MIT-CSAIL
Contact: Mieke Moran, 617-253-5817, mieke@csail.mit.edu
Relevant URL: http://www.roboticsproceedings.org/~oli**** Please note the time change from 4:00 pm to 3:00 pm ****
Abstract:
Research concerned with global motion for complex articulated systems has made tremendous progress over the last decade. However, most of the success stories lie outside of robotics in areas such as character animation, virtual prototyping, and molecular biology. Few of the successful approaches are able to address the challenges associated with inaccurate sensing and incomplete knowledge of a constantly changing environment. In this talk, I will examine the specific motion requirements for the deployment of mobile manipulation systems in unstructured and dynamic environments. Starting with an analysis of the main thrusts of ongoing research in this area, I will follow two paths towards motion generation for autonomous mobile manipulation. One of these paths extends sampling-based motion planning methods to account for incomplete knowledge of the environment and sensing uncertainties. The other builds on multi-objective control to compose global potential functions in dynamic and unstructured environments. While both of these approaches have moved us toward reliable motion capabilities for autonomous mobile manipulation, I believe their advantages will ultimately have to be combined to address all aspects of the problem.
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