September 9, 2020 A Roadmap for US Robotics From Internet to Robotics 2020 Edition Organized By University of California San Diego University of Illinois Urbana Champaign University of Massachusetts Lowell University of Southern California Carnegie Mellon University Clemson University Cornell University Georgia Institute of Technology Johns Hopkins University Oregon State University The University of Utah University of California Berkeley University of Michigan Sponsored by: University of California San Diego Computing Community Consortium University of Massachusetts Lowell University of Illinois, Urbana Champaign University of Southern California 2 Table of contents 1. EXECUTIVE SUMMARY .......................................................................................................................... 7 1.1 INTRODUCTION ................................................................................................................................. 7 1.2 COVID-19 ...................................................................................................................................... 8 1.3 MAIN FINDINGS ................................................................................................................................ 9 1.4 THE ROADMAP DOCUMENT. ............................................................................................................. 11 1.5 FURTHER INFORMATION IS AVAILABLE FROM: ..................................................................................... 11 2. SOCIETAL DRIVERS ................................................................................................................................... 13 2.1. MANUFACTURING ................................................................................................................................. 13 2.2. LOGISTICS AND E-COMMERCE ................................................................................................................. 16 2.3. TRANSPORTATION ................................................................................................................................. 19 Current Trends ..................................................................................................................................... 19 Personal Transportation...................................................................................................................... 20 Emerging personal mobility systems .................................................................................................. 20 Freight ................................................................................................................................................. 21 Home delivery systems ........................................................................................................................ 21 2.4. QUALITY OF LIFE ................................................................................................................................... 21 2.5. CLINICAL HEALTHCARE ........................................................................................................................... 25 Motivational statistics......................................................................................................................... 25 2.6. FEEDING THE PLANET ............................................................................................................................. 27 2.7. SECURITY AND RESCUE ROBOTICS ............................................................................................................ 28 National Security ................................................................................................................................. 28 Infrastructure Inspection and Maintenance ....................................................................................... 29 Evacuation in Large-Scale Disasters .................................................................................................... 29 Border Surveillance ............................................................................................................................. 31 3. MAPPING SOCIETAL DRIVERS TO RESEARCH CHALLENGES ..................................................................... 33 3.1 IDENTIFYING CHALLENGES TO GROWTH / PROGRESS ..................................................................................... 33 3.1.1 Manufacturing ........................................................................................................................... 33 3.1.2 Logistics ...................................................................................................................................... 34 3.1.3 Transportation ........................................................................................................................... 34 3.1.4 Quality of Life ............................................................................................................................. 35 3.1.5. Medical/Clinical Support ........................................................................................................... 36 3.1.6. Feeding the planet .................................................................................................................... 36 3.1.7 Security & Safety ........................................................................................................................ 37 3.2 MAPPING CHALLENGES TO RESEARCH NEEDS ............................................................................................... 37 3.2.1 Cost ............................................................................................................................................. 37 3.2.2 High Mix / Low Volume .............................................................................................................. 38 3.2.3 Safety.......................................................................................................................................... 38 3.2.4 Effortless Usage ......................................................................................................................... 39 3.2.5 Setup Time .................................................................................................................................. 40 3.2.6. Robustness ................................................................................................................................ 40 4. RESEARCH CHALLENGES .......................................................................................................................... 43 4.1. ARCHITECTURES AND DESIGN REALIZATIONS .............................................................................................. 43 4.2. LOCOMOTION ....................................................................................................................................... 46 Legged Robots: .................................................................................................................................... 46 3 4.3. GRASPING AND MANIPULATION .............................................................................................................. 49 Key Questions ...................................................................................................................................... 50 Manipulation ....................................................................................................................................... 52 Full immersion, telepresence with haptic and multi-modal sensor feedback..................................... 52 4.4. PERCEPTION ......................................................................................................................................... 53 State of the art .................................................................................................................................... 53 Key questions ...................................................................................................................................... 54 4.5. PLANNING AND CONTROL ....................................................................................................................... 55 Task and Motion Planning Under Uncertainty.................................................................................... 55 Manipulation ....................................................................................................................................... 56 Complex and Dynamic Environments.................................................................................................. 56 Control of high-dimensional, highly dynamic, hybrid systems. .......................................................... 57 Planning and Control for Sliding Autonomy ........................................................................................ 57 4.6. LEARNING AND ADAPTIVE SYSTEMS .......................................................................................................... 58 Promise and Challenges of Machine Learning .................................................................................... 58 Robot Learning Approaches ................................................................................................................ 58 Datasets and Benchmarks................................................................................................................... 59 Vision for 5 Years ................................................................................................................................