Challenges for robot manipulation in human environments [Grand Challenges of Robotics]

By Charles C. Kemp, A. Edsinger, Eduardo Torres-Jara. IEEE robotics & automation magazine, 2007

390 citations recorded by the source corpus.

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Cloth grasp point detection based on multiple-view geometric cues with application to robotic towel folding (2010, background): “Indeed, the ability to even merely grasp a modest variety of previously unseen rigid objects in realworld cluttered environments is considered a highly nontrivial task [26], [ 13 ], [2].”
Envisioning the qualitative effects of robot manipulation actions using simulation-based projections (2017, background): “However, designing and building robots that can autonomously perform an open-ended set of manipulation tasks in human environments remains an unsolved problem and poses many challenges to the ﬁeld (Kemp et al., 2007).”
Procedure Planning in Instructional Videos (2019, background): “While recent works have shown great promise in learning to plan from raw sensory inputs to perform simple tasks such as pushing objects or stacking blocks on a table [5, 6, 32], perception in visually complex environments remains a major bottleneck preventing the direct application of these approach”
Dual arm manipulation - A survey (2012, methodology): “Visual feedback has been widely used for providing robots with the ability to perceive and interact with their environment [23].”