期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 5, 期 2, 页码 1111-1118出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.2965891
关键词
Cooperating robots; performance evaluation and benchmarking
类别
资金
- European Union Horizon 2020 Programme [741930]
- Spanish State Research Agency through the BURG Project [CHIST-ERA - PCIN2019-103447]
- Maria deMaeztu Seal of Excellence [MDM-2016-0656]
- Ramon y Cajal Fellowship [RYC-2017-22703]
- Knut and AliceWallenberg Foundation
- Swedish Research Council
Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this letter, we provide three benchmarks for evaluation and comparison of different approaches towards three basic tasks in cloth manipulation: spreading a tablecloth over a table, folding a towel, and dressing. The tasks can be executed on any bimanual robotic platform and the objects involved in the tasks are standardized and easy to acquire. We provide several complexity levels for each task, and describe the quality measures to evaluate task execution. Furthermore, we provide baseline solutions for all the tasks and evaluate them according to the proposed metrics.
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