4.6 Article

Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects

Journal

IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 5, Issue 2, Pages 2443-2450

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.2972837

Keywords

Performance evaluation and benchmarking; dual arm manipulation; model learning for control; dexterous manipulation

Categories

Funding

  1. European Research Council under the European Unions Horizon 2020 research and innovation programme(SAHR Project, ERC) [741945]
  2. European Research Council (ERC) [741945] Funding Source: European Research Council (ERC)

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We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. We provide two setups that try to highlight the following challenges: (a) manipulating objects via a tool, (b) placing irregularly shaped objects in the correct groove, (c) handling semi-deformable objects, and (d) bimanual coordination. We provide CAD drawings of the task pieces that can be easily 3D printed to ensure ease of reproduction, and detailed description of tasks and protocol for successful reproduction, as well as meaningful metrics for comparison. We propose four categories of submission in an attempt to make the benchmark accessible to a wide range of related fields spanning from adaptive control, motion planning to learning the tasks through trial-and-error learning.

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