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


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.

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Fig. 1: How a grasp changes because of a task.
Fig. 2: Manipulation and grasping.
Fig. 3: The case of a screwdriver.
Fig. 4: The case of a robotic arm having the task t to scan a box of cereals.


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V.O. is supported by the UK National Centre for Nuclear Robotics initiative, funded by EPSRC EP/R02572X/1. M.B. is partially supported by the EU H2020 project ‘SOFTPRO: Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn’ (no. 688857), and by the Italian Ministry of Education and Research (MIUR) in the framework of the CrossLab project (Departments of Excellence). M.A.R.’s work has been partially funded by the European Commission’s Eighth Framework Program as part of the project Soft Manipulation (grant number H2020-ICT-645599). J.L. and P.C. are supported by the Australian Research Council Centre of Excellence for Robotic Vision (project no. CE140100016). F.C. and M.C. are supported by the European Research Council (project acronym MYKI; project number 679820). The authors want to thank K. Goldberg for his invaluable comments and constructive criticism.

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