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 paper we suggest a change of perspective. 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.
Robotic manipulation and the role of the task in the metric of success
Bianchi, M.Conceptualization
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2019-01-01
Abstract
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 paper we suggest a change of perspective. 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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
