Overview of UMass Robotics Research

1
New England Manipulation Symposium

• Overview of UMass Robotics Research
• Part II
• Rensselaer Polytechnic Institute
• Department of Computer Science
• May 25, 2005

2
Research Directions
I.
II.
3
Autonomous Mobile Manipulation (AMM)
Reasoning
Skills
Motion
Control
4
Motion Planning

• Integration of Motion Behavior
• Workspace Information
• Decomposition-Based
• Adaptive Sampling
• Disassembly-Based
• Configuration Space Info
• Entropy-Guided
• Active Sampling
• Utility-Guided

5
Reasoning

• Probabilistic Logic Programming
• AI Planning
• Probabilistic Reasoning
• Robust Skills
• Reduce Uncertainty
• Applicability
• Supports
• Easy Task Specification
• Integration of New Skills
• Life-long Learning
• Intrinsic Motivation

Reasoning
Skills
Motion
Control
6
Proteins? Protein Robot!


7
Protein Structure Prediction Protein Docking
Native Structure
Model-Based Search
Mode-Based Searchand Biological Information
State of the Art
8
Proteins are the Machines inside the Cell