TY - GEN
T1 - Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking
AU - Kirschner, Robin Jeanne
AU - Kurdas, Alexander
AU - Karacan, Kubra
AU - Junge, Philipp
AU - Baradaran Birjandi, Seyed Ali
AU - Mansfeld, Nico
AU - Abdolshah, Saeed
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Improving robot systems via newly-developed sensing devices, control algorithms, or state estimators in order to obtain safe and efficient human-robot interaction as well as tactile manipulation skills requires standardized performance measurement protocols for objective comparison. Common protocols to evaluate robot motion performance are currently defined in EN ISO 9283:1998. For tactile and safety performance, however, no common metrics were agreed on nor standardized yet. In this paper, we propose a set of quantifiable performance criteria for robot performance analysis, objectifying robot force sensing, force control, and collision detection/reaction performance. We introduce the corresponding measurement setups and protocols, demonstrate and experimentally validate each with a Universal Robot UR10e and UR5e as well as a Franka Emika Panda robot arm. The proposed performance criteria, metrics, and experimental setups constitute the basis of a fully tactile performance and safety benchmarking framework that allows to objectively evaluate tactile robot performance via reproducible reference tests.
AB - Improving robot systems via newly-developed sensing devices, control algorithms, or state estimators in order to obtain safe and efficient human-robot interaction as well as tactile manipulation skills requires standardized performance measurement protocols for objective comparison. Common protocols to evaluate robot motion performance are currently defined in EN ISO 9283:1998. For tactile and safety performance, however, no common metrics were agreed on nor standardized yet. In this paper, we propose a set of quantifiable performance criteria for robot performance analysis, objectifying robot force sensing, force control, and collision detection/reaction performance. We introduce the corresponding measurement setups and protocols, demonstrate and experimentally validate each with a Universal Robot UR10e and UR5e as well as a Franka Emika Panda robot arm. The proposed performance criteria, metrics, and experimental setups constitute the basis of a fully tactile performance and safety benchmarking framework that allows to objectively evaluate tactile robot performance via reproducible reference tests.
UR - http://www.scopus.com/inward/record.url?scp=85124336569&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636329
DO - 10.1109/IROS51168.2021.9636329
M3 - Conference contribution
AN - SCOPUS:85124336569
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4290
EP - 4297
BT - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -