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Robotic Grasping and Manipulation Competition: Task Pool



Yu Sun, Joseph Falco, Nadia Cheng, Hyouk Ryeol Choi, Erik Engeberg, Nancy Pollard, Maximo Roa, Zeyang Xia


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. The competition was comprised of three tracks that included hand-in-hand grasping, fully autonomous grasping, and simulation that were all 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 across diverse application spaces with a primary focus on service robot applications. This paper provides an overview of the task pool as well as the selection of tasks to support the various stages of the competition.
Robotic Grasping and Manipulation Competition
Publisher Info
Springer Science, New York, NY


robot, grasping, manipulation, competition


Sun, Y. , Falco, J. , Cheng, N. , Choi, H. , Engeberg, E. , Pollard, N. , Roa, M. and Xia, Z. (2018), Robotic Grasping and Manipulation Competition: Task Pool, Robotic Grasping and Manipulation Competition, Springer Science, New York, NY, [online],, (Accessed June 16, 2024)


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Created July 14, 2018, Updated October 12, 2021