A taxonomy of benchmark tasks for robot manipulation

Ana Huamán Quispe, Heni Ben Amor, Henrik I. Christensen

Research output: Chapter in Book/Report/Conference proceedingChapter

20 Scopus citations


This paper presents a taxonomy of benchmark manipulation tasks for service robots. Our contributions are threefold: (1) A review of relevant literature regarding manipulation tests in the robotics domain and related fields, such as physical therapy, assistive technologies and prosthetics. (2) Guidelines to design useful testing protocols to evaluate manipulation performance. (3) A proposed general taxonomy of benchmark manipulation tasks and sample tests per each class.

Original languageEnglish (US)
Title of host publicationSpringer Proceedings in Advanced Robotics
PublisherSpringer Science and Business Media B.V.
Number of pages17
StatePublished - 2018
Externally publishedYes

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


  • Amazon Picking Challenge (APC)
  • Benchmark Tasks
  • Grasp Quality Measures
  • Manipulation Tests
  • Robot Manipulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Engineering (miscellaneous)
  • Artificial Intelligence
  • Computer Science Applications
  • Applied Mathematics


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