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Robotic Manipulation and the role of the task in the metric of success

Ortenzi, Valerio and Controzzi, Marco and Cini, Francesca and Leitner, Juxi and Bianchi, Matteo and Roa Garzon, Máximo Alejandro and Corke, Peter (2019) Robotic Manipulation and the role of the task in the metric of success. Nature Machine Intelligence, 1, pp. 340-346. Springer Nature. doi: 10.1038/s42256-019-0078-4. ISSN 2522-5839.

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Official URL: https://www.nature.com/articles/s42256-019-0078-4


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

Item URL in elib:https://elib.dlr.de/133644/
Document Type:Article
Title:Robotic Manipulation and the role of the task in the metric of success
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Ortenzi, ValerioUniversity of BirminghamUNSPECIFIED
Controzzi, MarcoScuola Superiore Sant'Anna, Pisa, ItalyUNSPECIFIED
Cini, FrancescaScuola Superiore Sant'AnnaUNSPECIFIED
Leitner, JuxiQueensland University of TechnologyUNSPECIFIED
Bianchi, MatteoResearch Center ‘E. Piaggio’, University of Pisa, ItalyUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Corke, PeterQueensland University of TechnologyUNSPECIFIED
Date:August 2019
Journal or Publication Title:Nature Machine Intelligence
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1038/s42256-019-0078-4
Page Range:pp. 340-346
Publisher:Springer Nature
Keywords:grasping, grasp quality
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:21 Jan 2020 11:39
Last Modified:11 Jun 2021 04:13

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