GRASPA 1.0: GRASPA is a Robot Arm graSping Performance BenchmArk
| Autor: | Lorenzo Natale, Fabrizio Bottarel, Giulia Vezzani, Ugo Pattacini |
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| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Control and Optimization Computer science Biomedical Engineering Context (language use) 02 engineering and technology Task (project management) Computer Science - Robotics 020901 industrial engineering & automation Artificial Intelligence Human–computer interaction 0202 electrical engineering electronic engineering information engineering Mechanical Engineering Pipeline (software) Computer Science Applications Human-Computer Interaction Control and Systems Engineering Benchmark (computing) Robot 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Robotic arm Robotics (cs.RO) iCub Humanoid robot |
| Zdroj: | IEEE Robotics and Automation Letters |
| ISSN: | 2377-3766 |
| DOI: | 10.1109/lra.2020.2965865 |
| Popis: | The use of benchmarks is a widespread and scientifically meaningful practice to validate performance of different approaches to the same task. In the context of robot grasping the use of common object sets has emerged in recent years, however no dominant protocols and metrics to test grasping pipelines have taken root yet. In this paper, we present version 1.0 of GRASPA, a benchmark to test effectiveness of grasping pipelines on physical robot setups. This approach tackles the complexity of such pipelines by proposing different metrics that account for the features and limits of the test platform. As an example application, we deploy GRASPA on the iCub humanoid robot and use it to benchmark our grasping pipeline. As closing remarks, we discuss how the GRASPA indicators we obtained as outcome can provide insight into how different steps of the pipeline affect the overall grasping performance. Comment: To cite this work, please refer to the journal reference entry. For more information, code, pictures and video please visit https://github.com/robotology/GRASPA-benchmark |
| Databáze: | OpenAIRE |
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