Accepted Posters

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Abstracts	Posters	Titles	*Authors*
	Poster	Robot Factors: An Alternative Approach for Closing the Gap in Human versus Robot Manipulation	Zhe Xu and Maya Cakmak
	Poster	It takes two hands to grasp Towards Handovers in Bimanual Manipulation Planning	Ana Huaman Quispe, Heni Ben Amor and Mike Stilman
	Poster	Computation of Realistic Contact Forces in Grasping.	Katharina Hertkorn, Maximo A. Roa, Thomas Wimbock and Christoph Borst
	Poster	Effects of Compliance in Parallel to Actuators on Grasping and Manipulation in Robotic Hands	Prashant Rao, Taylor D. Niehues, Pei-Hsin Kuo, Rachel Smith and Ashish D. Deshpande
	Poster	Fault Recovery in Logical Manipulation Policies	Neil Dantam, Heni Ben Amor, Henrik Christensen and Mike Stilman
	Poster	Elastic transmission mechanisms: multiport models for human-like compliant grasping in robotic hands	Joshua A. Schultz, Michael J. Martell and Gavin O'Mahony
	Poster	Learning Grasp Phases from Human Demonstrations	Oliver Kroemer, Gerhard Neumann, Herke van Hoof and Jan Peters
	Poster	Tracking hand-object interaction: towards a database for human grasping and manipulation	Qiushi Fu and Marco Santello
	Poster	Learning Dynamic Manipulation Skills under Unknown Dynamics with Guided Policy Search	Sergey Levine and Pieter Abbeel
	Poster	Construction of a 3D Object Recognition and Manipulation Database from Grasp Demonstrations	David Kent and Sonia Chernova

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Coming soon...

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The workshop takes places on Saturyday, July 12, 2014 in room 210 Wheeler. It is structured around 3 pairs of invited presentations, each pair consisting of a human and a robot side. The topics for the three pairs will be a) hands, b) grasping, c) perception. Following each pair of invited talks, there will be a discussion session on the corresponding topic. After the presentation/discussion sessions, there will be a panel discussion. The workshop will close with a poster session under the theme “Novel Directions in Grasping and Manipulation”.

Topic	Humans	Robots
Intro (15 mins)	Organizers
Hands (9:00-10:00)	Francisco Valero-Cuevas slides as PDF	Aaron Dollar slides as PDF
Discussion 1 (10:00-10:30)	Towards the right hardware
Break (10:30-11:00)	Coffee break
Grasping (11:00-12:00)	Marco Santello slides as PDF	Oliver Brock (presenting a talk co-authored with Antonio Bicchi) slides as PDF
Discussion 2 (12:00-12:30)	Towards effective grasp planning
Break (12:30-14:00)	Lunch break
Perception (14:00-15:00)	Michael Arbib slides as PDF	Justus Piater slides as PDF
Discussion 3 (15:00-15:30)	Towards appropriate perception
Break (15:30-16:00)	Coffee break
Panel Discussion (16:00-17:00)	All invited speakers + one moderator from among the organizers
Novel directions in grasping and manipulation (17:00-18:00)	Poster session with contributed and invited posters
Closure (15 mins)	Organizers

List of questions to be discussed:

What kind of knowledge representation do we need to efficiently capture the understanding of the world?
How can we exploit human knowledge in an efficient way as a teaching tool?
Are we currently exploiting all the capabilities of the robotic hardware that we have, or the limitations that we experience come more from the sensing/ planning/ control/ execution/ supervision side?
How much should we rely on sensorial vs a-priori information?
Is machine learning the new paradigm for robotic manipulation?
Do we really need grasp/manipulation.task planning, or we can create a more natural robot-environment interaction?
What type of benchmarking do we need to compare advances in robotic manipulation?

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Francisco Valero-Cuevas

University of Southern Calforinia

Human Hands

Francisco has studied the human grasping system from various perspectives, including the study of cadaver hands to extract models of the tendon-driven actuation. He also has examined the neural evidence for actuation strategies.

Aaron Dollar

Yale University

Robotic Hands

Aaron's SDM hand, in our view, marks a change in direction of how hands are built. The SDM hand is very simple, yet highly effective. It lets the hardware do the "thinking." He also built several hands as part of the DARPA ARM project.

Marco Santello

Arizona State University

Human Grasping

Marco is THE pioneer in the field of grasp synergies. His work in human grasping is not only influential in his own field, but has - dare we say the word - caused a paradigm shift in robotic grasping. More generally, he investigates the mechanisms underlying sensorimotor integration in motor learning and control.

Oliver Brock

TU Berlin

Robotic Grasping

The original invited speaker was Antonio Bicchi. Unfortunately, due to a scheduling conflict, Antonio cannot attend RSS. Oliver will therefore present a talk he co-authored together with Antonio Bicchi.

Michael Arbib

University of Southern California

Human Perception

Yes, the real Michael Arbib, no kidding! His research focuses on the coordination of percption and action. He has made seminal contributions to neural networks, discovered mirror neurons, did pioneering work on affordance that greatly influenced the use of this concept in robotics, just to name a few things. So, together with Marco Santello, we may have united in this workshop the two neuroscientists with the biggest impact on robotics.

Justus Piater

University of Innsbruck

Robotic Perception

A computer vision person by training, Justus soon focused on perception for interaction. He has come up with some of the most interesting, oftentimes machine-larning-based methods for peception in the context of grasping and interaction.

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Oliver Brock, oliver.brock@tu-berlin.de, http://robotics.tu-berlin.de, Technische Universität Berlin
Dmitry Berenson, dberenson@cs.wpi.edu, http://users.wpi.edu/~dberenson/, Worcester Polytechnic Institute
Jim Mainprice, jmainprice@wpi.edu, https://sites.google.com/site/jimmainprice, Worcester Polytechnic Institute
Maximo A. Roa, maximo.roa@dlr.de, http://www.robotic.dlr.de/Maximo.Roa, German Aerospace Center (DLR)
Clemens Eppner, clemens.eppner@tu-berlin.de, http://robotics.tu-berlin.de, Technische Universität Berlin

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We solicit extended abstracts of two pages in IEEE Conference format, containing novel work or work in progress in relevant areas. Specific topics of interest include, but are not limited to:

human grasp and manipulation studies
grasping synergies
tactile sensing
visual information for grasping/manipulation
design of robotic/prosthetic hands
benchmarking of robotic grasping/manipulation
cognitive modeling for grasping, combined arm/hand grasping
use of task information for grasping
modeling and using uncertainty in grasping
grasping and manipulation of deformable/flexible/articulated objects.

The abstract should be sent as a pdf file (maximum size 5 Mb) to jmainprice@wpi.edu, in an email with the subject [RSS2014: Human vs Robot grasping].

The abstracts will be reviewed by the program committee and ranked based on clarity of presentation, technical merit, originality of approach, and relevance of the problem being solved. Authors of accepted abstracts will submit a final poster. The abstracts and posters will be archived online on the website of the Technical Committee on Mobile Manipulation (http://www.mobilemanipulation.org/). Authors of accepted posters are encouraged to use their laptops/tablets during their presentations to enhance interactivity by showing videos/demos/simulations.

The final posters should have A0 format (the poster panel width is 36 inches).

Important dates:

Abstract Submission Deadline: May 16
Notification of Acceptance: May 30
Final submission: June 10
Workshop: July 12

Program Committee:

Matei Ciocarlie (Google, former Willow Garage)
Heni Ben Amor (Georgia Tech)
Tamim Asfour (KIT)
Yu Sun (USF, prospective TC on grasping)
Rod Grupen (Umass, prospective TC on grasping)
Raphael Deimel (TU Berlin)
José Alvarez-Ruiz (TU Berlin)

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How Can We Close the Gap?

This workshop will take place on July 12 in Room 210 Wheeler at the 2014 Robotics: Science and Systems conference in Berkeley, California, USA.

We have an incredible line-up of invited speakers! Have a look!

Grasping and manipulation are easy for humans: they quickly acquire visual information, process the scene, decide how to grasp, and execute the required motion, even under difficult conditions and with previously unseen objects. Several decades of robotics research did not enable us to transfer comparable abilities to robots. This workshop will bring together leading researchers from the human and the robotics sides of grasping research.

There will be three pairs of invited presentations, on :

hands
grasping/manipulation
perception for grasping/manipulation

The pairs of invited speakers will compare and contrast insights, concepts, approaches, views, and recent developments from the human and robotics sides. The presentations will be followed by open discussion sessions, one for each of the three topics. The workshop will conclude with a poster session on “Novel Directions in Grasping and Manipulation”.

The primary goal of the workshop will be to identify novel directions or emphases in robotics research. But we also hope to identify novel scientific questions and experimental designs for research on the human side.

General information on how to attend the conference workshops maybe found here.

(Image: Jeffrey Sylvester/Getty Images)

Hope to see you in Berkley!

Oliver Brock, Dmitry Berenson, Jim Mainprice, Maximo Roa & Clemens Eppner