Ortenzi, Valerio und Controzzi, Marco und Cini, Francesca und Leitner, Juxi und Bianchi, Matteo und Roa Garzon, Máximo Alejandro und Corke, Peter (2019) Robotic Manipulation and the role of the task in the metric of success. Nature Machine Intelligence, 1, Seiten 340-346. Springer Nature. doi: 10.1038/s42256-019-0078-4. ISSN 2522-5839.
PDF
- Nur DLR-intern zugänglich
- Preprintversion (eingereichte Entwurfsversion)
933kB |
Offizielle URL: https://www.nature.com/articles/s42256-019-0078-4
Kurzfassung
Humans perform object manipulation in order to execute a specific task. Seldom is such action started with no goal in mind. In contrast, traditional robotic grasping (first stage for object manipulation) seems to focus purely on getting hold of the object, neglecting the goal of the manipulation. Most metrics used in robotic grasping do not account for the final task in their judgement of quality and success. In this Perspective we suggest a change of view. Since the overall goal of a manipulation task shapes the actions of humans and their grasps, we advocate that the task itself should shape the metric of success. To this end, we propose a new metric centred on the task. Finally, we call for action to support the conversation and discussion on such an important topic for the community
elib-URL des Eintrags: | https://elib.dlr.de/133644/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Robotic Manipulation and the role of the task in the metric of success | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | August 2019 | ||||||||||||||||
Erschienen in: | Nature Machine Intelligence | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 1 | ||||||||||||||||
DOI: | 10.1038/s42256-019-0078-4 | ||||||||||||||||
Seitenbereich: | Seiten 340-346 | ||||||||||||||||
Verlag: | Springer Nature | ||||||||||||||||
ISSN: | 2522-5839 | ||||||||||||||||
Stichwörter: | grasping, grasp quality | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags