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Robotic Grasping and Manipulation Competition: Task Pool

  • Yu Sun
  • Joe Falco
  • Nadia Cheng
  • Hyouk Ryeol Choi
  • Erik D. Engeberg
  • Nancy Pollard
  • Maximo Roa
  • Zeyang Xia
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 816)

Abstract

A Robot Grasping and Manipulation Competition was held during IROS 2016. The competition provided a common set of robot tasks for researchers focused on the application of robot systems to compare the performance of hand designs as well as autonomous grasping and manipulation solutions. Tracks one and two of the competition were supported by tasks chosen from a predefined pool of tasks. This task pool was assembled by the authors based on the challenges faced in developing robot systems that have the flexibility to grasp and manipulate a wide range of object geometries. This paper provides an overview of the task pool as well as the selection of tasks to support the various stages of the competition.

Keywords

Robot Grasping Manipulation Competition 

References

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Copyright information

© This is a U.S. government work and its text is not subject to copyright protection in the United States; however, its text may be subject to foreign copyright protection 2018

Authors and Affiliations

  • Yu Sun
    • 1
  • Joe Falco
    • 2
  • Nadia Cheng
    • 3
  • Hyouk Ryeol Choi
    • 4
  • Erik D. Engeberg
    • 5
  • Nancy Pollard
    • 6
  • Maximo Roa
    • 7
  • Zeyang Xia
    • 8
  1. 1.University of South FloridaTampaUSA
  2. 2.National Institute of Standards and Technology (NIST)GaithersburgUSA
  3. 3.RightHand RoboticsSomervilleUSA
  4. 4.Sungkyunkwan UniversitySeoulSouth Korea
  5. 5.Florida Atlantic UniversityBoca RatonUSA
  6. 6.Carnegie Mellon UniversityPittsburghUSA
  7. 7.German Aerospace Center (DLR)CologneGermany
  8. 8.Shenzhen Institutes of Advanced TechnologyShenzhenChina

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