Robotic Grasping and Manipulation Competition: Task Pool
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.