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Mobile Manipulation Hackathon: Moving Into Real World Applications This is a repository copy of Mobile Manipulation Hackathon: Moving into Real World Applications. White Rose Research Online URL for this paper: http://eprints.whiterose.ac.uk/172917/ Version: Accepted Version Article: Roa, MA, Dogar, M orcid.org/0000-0002-6896-5461, Pages, J et al. (8 more authors) (2021) Mobile Manipulation Hackathon: Moving into Real World Applications. IEEE Robotics & Automation Magazine. pp. 2-14. ISSN 1070-9932 https://doi.org/10.1109/mra.2021.3061951 © 2021IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. Reuse Items deposited in White Rose Research Online are protected by copyright, with all rights reserved unless indicated otherwise. They may be downloaded and/or printed for private study, or other acts as permitted by national copyright laws. The publisher or other rights holders may allow further reproduction and re-use of the full text version. This is indicated by the licence information on the White Rose Research Online record for the item. Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing [email protected] including the URL of the record and the reason for the withdrawal request. [email protected] https://eprints.whiterose.ac.uk/ Mobile Manipulation Hackathon: Moving into real world applications Maximo´ A. Roa1, Mehmet Dogar2, Jordi Pages3, Carlos Vivas3, Antonio Morales4, Nikolaus Correll5, Michael Gorner¨ 6, Jan Rosell7, Sergi Foix8, Raphael Memmesheimer9, Francesco Ferro3 Abstract— The Mobile Manipulation Hackathon was held perception, navigation, task, path and grasp planning, control, in late 2018 at the IEEE/RSJ International Conference on error recovery, human-robot interaction, and robotic hard- Intelligent Robots and Systems (IROS) to showcase latest ware development. Each field is an area of research in its own applications of wheeled robotic manipulators. The challenge had an open format, where the teams developed their chosen right, but the particular challenge in mobile manipulation application for a specific robotic platform, using simulation tools is to obtain an integrated system that can combine a large and afterwards integrating it into the robotic system. This paper variety of hardware and software components to increase the presents the competition and analyzes the results, with informa- range of tasks that the robot can perform, while decreasing tion gathered during the competition days and from a survey the dependency on prior information and increasing the circulated among the finalist teams. We provide an overview of the mobile manipulation field, identify key areas required for awareness the robot has of its current situation. further development to facilitate the implementation of mobile As the complexity of mobile manipulation lies at the manipulators on real applications, and discuss ideas on how to interface of the different fields mentioned above, and any structure future hackathon-style competitions to enhance their significant experimentation will not only require mastery of impact on the scientific and industrial community. a variety of techniques but system integration and acquisition of hardware, it is difficult to establish mobile manipulation as I. INTRODUCTION a field of its own. Similarly, it is not clear what the commer- Autonomous mobile manipulation combines two funda- cial applications of mobile manipulation really are. While mental robotic skills: mobility in the environment and ma- performing truly human-like tasks is only possible when nipulation of objects. The ability to do both simultane- combining mobility and manipulation, the high cost and ously opens numerous applications in diverse areas including limited performance emphasize commercial solutions that are manufacturing, logistics, home automation and healthcare. either only mobile, such as floor cleaning or transport, only Such applications typically require complex (structured and manipulation, such as conventional robotic assembly lines, or unstructured) manipulation. They also require navigation in constrain the system in such a way that manipulation remains large spaces, possibly in cooperation or close interaction with trivial, for example picking up and transporting entire shelves human beings or other robotic systems. in warehouses. However, other applications such as telep- Mobile manipulation is a complex field. Mobility in- resence and remote assistance systems are moving toward troduces additional pose uncertainty to the manipulation demanding some way to remotely interact with objects and problem, while limiting the available perception systems and persons, for instance in elderly assistance scenarios. Also, introducing additional constraints to the navigation problem industrial scenarios might be able to solve multiple tasks that now needs to also consider one or more arms mounted on with fixed-base manipulators, but a single, flexible mobile the robot. Mobile manipulation is also a systems challenge, platform could autonomously take over multiple tasks in requiring the designer to draw on multiple different fields: different locations, thus possibly improving the return on investment of the robot, especially important for the case 1 M. Roa is with the Institute of Robotics and Mechatron- of small and medium enterprises (SMEs) that cannot afford ics, German Aerospace Center (DLR), Wessling, Germany. Email: [email protected]. multiple static robotic platforms. 2M. Dogar is with the University of Leeds, UK. Email: To address these challenges and build a community around [email protected]. mobile manipulation, the IEEE Robotics and Automation 3J. Pages, C. Vivas and F. Ferro are with PAL Robotics, Barcelona, Spain. Email: [email protected], Society (RAS) Technical Committee (TC) on Mobile Ma- [email protected], nipulation together with their members and collaborators [email protected]. organized a “Hackathon” — a word combining “hacking” 4A. Morales is with the Robotic Intelligence Laboratory at Universitat Jaume I, Castellon, Spain. Email: [email protected]. and “marathon” — that gives common ground to participants 5N. Correll is with the Department of Computer Science, University of by providing a complete mobile manipulation system offer- Colorado Boulder, USA. Email: [email protected]. 6 ing a basic level of operation. This allows the community M. Gorner¨ is with University of Hamburg, Germany. Email: to showcase (1) their work in relevant sub-fields such as [email protected]. 7J. Rosell is with Institut d’Organitzacio´ i Control - Universitat grasping, manipulation, perception or motion-planning, and Politecnica` de Catalunya, Spain. Email: [email protected]. (2) application domains that might truly benefit from a 8 S. Foix is with Institut de Robotica` i Informatica` Industrial, CSIC-UPC, mobile manipulation solution. Spain. Email: [email protected]. 9R. Memmesheimer is with Universitat¨ Koblenz-Landau, Germany. The hackathon phenomenon has been described in the Email: [email protected]. context of digital innovation as an appropriate vehicle to bring people from different disciplines together as well as to on soft manipulators. Similarly, the tasks do not require actually engage the community with a particular topic [1]. mobility. Consequently, a body of work exists on how to design There have also been recent competitions that target mo- a hackathon to optimize the desired outcome in terms of bile manipulation. The FetchIt! Mobile Manipulation Chal- networking [2], learning [3], or broadening participation in lenge was held at the IEEE Int. Conf. on Robotics and computing [4]. In its purest form, the hackathon format Automation (ICRA) 2019 [10]. The task was to assemble therefore brings groups of unrelated people together to share a kit formed by six objects obtained from stations around knowledge and work towards a solution, learn from each a designated arena, combining navigation and manipulation other, and potentially form long-term connections. skills. Similarly, the RoboCup@Home competition4, using Given the current state of the art in hardware and software, the Toyota HSR [11] robot as the official platform, includes we deemed it unlikely of getting significant insights from an a set of tidying up or service tasks in living room or ad-hoc event in which teams are formed at the conference kitchen set ups, which require mobile manipulation. The venue, with no previous contact or chance to learn about the RoboCup@Home also encourages teams to make “Open available tools. Instead, the Hackathon has been organized as Challenge” demonstrations (i.e. free demonstrations deter- a multi-staged competition from which finalist teams were mined by the teams, instead of the fixed set of tasks), though selected based on an initial entry mostly based in simulation these open demonstrations are not the main focus, they are results. performed at off-hours of the competition, and therefore the “Open Challenge” award is not necessarily awarded [12]. Related hackathons and competitions The SciRoc Challenge [13], which is organized as part of the Robotic competitions
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