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

自主移动操作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。在没有人类用户精细干预的情况下能够独立运行的实际操作系统方面，进展甚微。然而，令人兴奋的新灵巧机器和执行器设计是可用的，使用触觉反馈和机器学习创建手动技能的关键技术现在已经存在。提议的研讨会旨在确定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为干预的情况下长时间工作以实现目标的能力。机动性使机器人系统能够在大型和非结构化环境中运行，并且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进行体力劳动的性质，而不是自我运动。操作任务可以从挖掘到灵巧的组装。本次研讨会将把研究人员聚集在一起，讨论创建集成自主移动操作系统以解决商业应用的前景和挑战。我们的目标是设计一个实现这一目标的通用技术路线图。结果和发现将在一份报告中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.