Workshop on Mobile Manipulation: Generating Robot Motion for Contact with the World

July 9 & 10, 2012

Robotics: Science and Systems 2012

The aim of the workshop is to discuss current problems and futuredirections in contact motion generation. Recent years have seensignificant progress toward enabling autonomous mobile robots tointeract with unstructured, dynamic, and human-centeredenvironments.

Much of this progress, however, is concerned withcollision-free motion. In contrast, the goal of mobile manipulation isto interact with objects, to create contact and to exploit it in orderto change the state of the world.  To achieve this goal, insights andadvances from different parts of robotics research must becombined. This workshop will bring together researchers from control,motion planning, mobile manipulation, and mechanism design to discusshow the challenges associated with robot motion in contact can be met.

Topics of interest include (but are not limited to) 

  • Modeling contact in manipulation,  
  • Grasp planning,   
  • Mobile manipulation systems,
  • Motion generation in partially known environments,    
  • Planning for sensing, under uncertainty, task and motion planning,     '
  • Robust motion control,    
  • Force and torque control along contact surfaces,   
  • Compliant motion with contact,    
  • Compliant and underactuated mechanisms.

Important Dates:

Paper submission:             May 8, 2012;   

Acceptance notification:  June 15, 2012;   

Final paper submission:   June 29, 2012.


We solicit paper submissions, optionally accompanied by a video, bothof which will be reviewed by the program committee. An optionalinteractive poster session will be organized if there is a largernumber of submissions. Accepted papers and videos will be archived atthe Internet Archive. If there is sufficient interest, we will pursuepublication of a special journal issue to include the bestpapers. Please email submissions to:        

This email address is being protected from spambots. You need JavaScript enabled to view it. 

Please do not attach video files to email; include a URL instead.

Papers should be in PDF format, conform to the RSS regular paper styleguidelines, and be a maximum of 8 pages in length (shorter papers arewelcome). Videos should be in the MPEG format, 3-5 minutes in length,and easily viewed with free video players (please try playing yourvideo on several different machines before submitting).

Confirmed Speakers:

  • Sachin Chitta (Willow Garage)   
  • Marc Toussaint (FU Berlin)   
  • Sertac Karaman (MIT)   
  • Ludovic Righetti (USC)   
  • Aude Billard (EPFL)   
  • Mike Stilman (Georgia Tech)    

Program Committee:

  • Kaijen Hsiao (Willow Garage)   
  • Jeff Trinkle (Rensselaer Polytechnic Institute)   
  • Robert Platt, Jr. (SUNY at Buffalo)   
  • Mehmet Dogar (Carnegie Mellon University)   
  • Dieter Fox (University of Washington)   
  • Domenico Prattichizzo (Università di Siena)   
  • Markus Rickert (Technische Universität München)

More information:

For more information including the partial financial support, thetentative schedule, and motivational videos, please see the workshopweb page:                


  • Mihail Pivtoraiko (UPenn)    
  • Dov Katz (CMU)   
  • Oliver Brock (TU Berlin)

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