Laboratory for Perceptual Robotics – Department of Computer Science Overview of UMass Robotics Research Part II Rensselaer Polytechnic Institute Department of Computer Science May 25, 2005 New England Manipulation Symposium

2 Laboratory for Perceptual Robotics – Department of Computer Science Research Directions I. II.

3 Laboratory for Perceptual Robotics – Department of Computer Science Autonomous Mobile Manipulation (AMM) Control Motion Skills Reasoning

4 Laboratory for Perceptual Robotics – Department of Computer Science Motion Planning Control Motion Skills Reasoning  Integration of Motion Behavior  Workspace Information Decomposition-Based Adaptive Sampling Disassembly-Based  Configuration Space Info Entropy-Guided Active Sampling Utility-Guided

5 Laboratory for Perceptual Robotics – Department of Computer Science Reasoning Control Motion Skills 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

6 Laboratory for Perceptual Robotics – Department of Computer Science Proteins? Protein = Robot! = =

7 Laboratory for Perceptual Robotics – Department of Computer Science Protein Structure Prediction & Protein Docking Native Structure State of the Art Model-Based Search Mode-Based Search and Biological Information

8 Laboratory for Perceptual Robotics – Department of Computer Science Proteins are the Machines inside the Cell