A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems
| Autor: | Werner Friedl, Maximo A. Roa, Hussein Mnyusiwalla, Ashok M. Sundaram, Duncan Russell, Pavlos Triantafyllou, Panagiotis Sotiropoulos, Graham Deacon |
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| Rok vydání: | 2020 |
| Předmět: |
Factory Automation
0209 industrial biotechnology Grasping Control and Optimization Computer science Biomedical Engineering Autonomie und Fernprogrammierung 02 engineering and technology Field (computer science) Domain (software engineering) 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering Performance Evaluation and Benchmarking business.industry Mechanical Engineering Benchmarking Industrial engineering Automation Computer Science Applications Human-Computer Interaction Control and Systems Engineering Container (abstract data type) Benchmark (computing) SMT placement equipment 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition business |
| Zdroj: | IEEE Robotics and Automation Letters. 5:1389-1396 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2020.2965076 |
| Popis: | Pick-and-place operations constitute the majority of today's industrial robotic applications. However, comparability and reproducibility of results has remained an issue that delays further advances in this field. Evaluation of manipulation systems can be carried out at different levels, but for the final application the performance of the overall system is the critical one. This paper proposes a benchmarking framework for pick-and-place systems, inspired by a typical task in the logistic domain: picking up fruits and vegetables from a container and placing them in an order bin. The framework uses an easy-to-reproduce environment, a publicly available object set, and guidelines for creating scenarios of different complexity. The proposed benchmark is applied to evaluate the performance of four variants of a robotic system with different end-effectors. |
| Databáze: | OpenAIRE |
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