Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Robin Jeanne Kirschner; Alexander Kurdas; Kubra Karacan; Philipp Junge; Seyed Ali Baradaran Birjandi; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin

doi:10.1109/IROS51168.2021.9636329

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Robin Jeanne Kirschner
, Alexander Kurdas
, Kubra Karacan
, Philipp Junge
, Seyed Ali Baradaran Birjandi
, Nico Mansfeld
, Saeed Abdolshah
, Sami Haddadin

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

27 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4290-4297
Number of pages	8
ISBN (Electronic)	9781665417143
DOIs	https://doi.org/10.1109/IROS51168.2021.9636329
State	Published - 2021
Event	2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 - Prague, Czech Republic Duration: 27 Sep 2021 → 1 Oct 2021

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Country/Territory	Czech Republic
City	Prague
Period	27/09/21 → 1/10/21

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy
SDG 9 Industry, Innovation, and Infrastructure
SDG 12 Responsible Consumption and Production

Access to Document

10.1109/IROS51168.2021.9636329

Cite this

Kirschner, R. J., Kurdas, A., Karacan, K., Junge, P., Baradaran Birjandi, S. A., Mansfeld, N., Abdolshah, S., & Haddadin, S. (2021). Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 (pp. 4290-4297). (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS51168.2021.9636329

Kirschner, Robin Jeanne ; Kurdas, Alexander ; Karacan, Kubra et al. / Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 4290-4297 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking",

abstract = "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.",

author = "Kirschner, \{Robin Jeanne\} and Alexander Kurdas and Kubra Karacan and Philipp Junge and \{Baradaran Birjandi\}, \{Seyed Ali\} and Nico Mansfeld and Saeed Abdolshah and Sami Haddadin",

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year = "2021",

doi = "10.1109/IROS51168.2021.9636329",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Kirschner, RJ, Kurdas, A, Karacan, K, Junge, P, Baradaran Birjandi, SA, Mansfeld, N, Abdolshah, S & Haddadin, S 2021, Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4290-4297, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, 27/09/21. https://doi.org/10.1109/IROS51168.2021.9636329

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. / Kirschner, Robin Jeanne; Kurdas, Alexander; Karacan, Kubra et al.
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 4290-4297 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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

PY - 2021

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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.

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M3 - Conference contribution

AN - SCOPUS:85124336569

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ER -

Kirschner RJ, Kurdas A, Karacan K, Junge P, Baradaran Birjandi SA, Mansfeld N et al. Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 4290-4297. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS51168.2021.9636329

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Abstract

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Conference

UN SDGs

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