Robotic manipulation and the role of the task in the metric of success
Robotic manipulation and the role of the task in the metric of success
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机器人操作和任务在成功衡量标准中的作用
DOI：
10.1038/s42256-019-0078-4
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发表时间：
2019
影响因子：
23.8
通讯作者：
Peter Corke
中科院分区：
文献类型：
--
作者：
V. Ortenzi;M. Controzzi;F. Cini;J. Leitner;M. Bianchi;M. Roa;Peter Corke
人类执行对象操作以执行特定任务。这样的行动很少没有目标。相比之下，传统的机器人抓取（物体操作的第一阶段）似乎纯粹集中在抓住物体上，而忽略了操作的目标。机器人抓取中使用的大多数指标在其质量和成功的判断中不考虑最终任务。在这个观点中，我们建议改变观点。由于操纵任务的总体目标塑造了人类的行动和他们的把握，我们主张任务本身应该塑造成功的度量标准。为此，我们提出了一个新的度量中心的任务。最后，我们呼吁采取行动，支持对社区如此重要的主题进行对话和讨论。传统的机器人抓取专注于操纵物体，通常不考虑运动中涉及的目标或任务。作者提出了一种基于任务本身的操作成功的新度量标准。
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. Traditional robotic grasping focuses on manipulating an object, often without considering the goal or task involved in the movement. The authors propose a new metric for success in manipulation that is based on the task itself.
影响因子：
11.7
作者：
Santello M;Bianchi M;Gabiccini M;Ricciardi E;Salvietti G;Prattichizzo D;Ernst M;Moscatelli A;Jörntell H;Kappers AM;Kyriakopoulos K;Albu-Schäffer A;Castellini C;Bicchi A
通讯作者：
Bicchi A
客座社论关于机器人抓取基准、协议和指标的公开讨论
DOI：
10.1109/tase.2018.2871354
发表时间：
2018
影响因子：
5.6
作者：
Mahler, Jeffrey;Platt, Rob;Rodriguez, Alberto;Ciocarlie, Matei;Dollar, Aaron;Detry, Renaud;Roa, Maximo A.;Yanco, Holly;Norton, Adam;Falco, Joe
通讯作者：
Falco, Joe
影响因子：
9.2
作者：
Eppner, Clemens;Deimel, Raphael;Brock, Oliver
通讯作者：
Brock, Oliver