Workshop on Autonomous Mobile Manipulation; March 10-11, 2005; Houston, TX

自主移动操纵是几个重要新兴市场的一个具有挑战性的技术里程碑，包括医疗保健、轨道航天器和卫星的服务和维修、行星探测、军事应用、物流和供应链支持。在没有人类用户细粒度干预的情况下，实际操作系统能够独立运行的进展甚微。然而，令人兴奋的新的灵巧机器和致动器设计已经出现，使用触觉反馈和机器学习创造手动技能的关键技术现在已经存在。拟议的研讨会将确定在实现自主移动操作的道路上的关键科学挑战。自主性是指机器人系统在没有人工干预的情况下，为实现目标而长时间工作的能力。机动性使机器人系统能够在大型和非结构化环境中运行，并可以通过多种方式实现，具体取决于应用领域(陆地、空中、水下、太空)。最后，操纵描述了在环境中执行体力工作的属性，而不是自我运动。操作任务的范围从挖掘到灵巧的组装。这次研讨会将把研究人员聚集在一起，讨论创建集成的自主移动操作系统的前景和挑战，以满足商业应用。我们的目标是制定一个通向这一目标的总体技术路线图。结果和发现将以报告的形式分发给研究人员和资助机构。

Autonomous mobile manipulation is a challenging technology milestone underlying several important emerging markets, including health care, service and repair of orbiting spacecraft and satellites, planetary exploration, military applications, logistics, and supply chain support. Little progress has been made toward practical manipulation systems capable of functioning independently without fine-grained intervention from human users. However, exciting new dexterous machines and actuator designs are available and key technologies for creating manual skills using haptic feedback and machine learning now exist.The proposed workshop is to identify the key scientific challenges on the path towards achieving autonomous mobile manipulation. Autonomy refers to the capability of a robotic system to work towards the accomplishment of an objective for extended periods of time without human intervention. Mobility enables a robotic system to operate in large and unstructured environments and can be achieved in a number of ways, depending on the area of application (land, air, underwater, space). Finally, manipulation describes the property of performing physical work in the environment, other than self-motion. Manipulation tasks can range from excavation to dexterous assembly.This workshop will bring researchers together to discuss the prospects and challenges for creating integrated autonomous mobile manipulation systems with which to address commercial applications. The goal is to devise a general technology roadmap towards this objective. The results and findings will be disseminated in a report to researchers and funding agencies.