GRASPA 1.0: GRASPA is a Robot Arm graSping Performance BenchmArk
GRASPA 1.0: GRASPA is a Robot Arm graSping Performance BenchmArk
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DOI：
10.1109/lra.2020.2965865
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Natale, Lorenzo
中科院分区：
文献类型：
--
作者：
Bottarel, Fabrizio;Vezzani, Giulia;Natale, Lorenzo
使用基准是一种广泛且具有科学意义的实践，用于验证同一任务的不同方法的性能。近年来，在机器人抓取的背景下，出现了常见对象集的使用，但测试抓取管道的主导协议和指标尚未扎根。在这封信中，我们介绍了 GRASPA 1.0 版本，这是一个测试物理机器人设置上抓取管道有效性的基准。这种方法通过提出考虑测试平台的功能和限制的不同指标来解决此类管道的复杂性。作为示例应用程序，我们在 iCub 人形机器人上部署 GRASPA，并用它来对我们的抓取管道进行基准测试。作为结束语，我们讨论了作为结果获得的 GRASPA 指标如何能够深入了解管道的不同步骤如何影响整体抓取性能。
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 letter, 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.