A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems
A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems
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DOI：
10.1109/lra.2020.2965076
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Deacon, Graham
中科院分区：
文献类型：
--
作者：
Mnyusiwalla, Hussein;Triantafyllou, Pavlos;Deacon, Graham
拾放操作构成了当今工业机器人应用的大部分。然而，结果的可比性和可重复性仍然是一个延迟该领域进一步进展的问题。操纵系统的评估可以在不同的层面上进行，但对于最终的应用来说，整个系统的性能是至关重要的。本文提出了一个取放系统的基准测试框架，其灵感来自于物流领域的一个典型任务：从容器中拾取水果和蔬菜并将其放入订单箱中。该框架使用易于重现的环境、公开可用的对象集以及创建不同复杂度场景的指南。所提出的基准用于评估具有不同末端执行器的机器人系统的四种变体的性能。
Pick-and-place operations constitute the majority of today's industrial robotic applications. However, comparability and reproducibility of results has remained an issue that delays further advances in this field. Evaluation of manipulation systems can be carried out at different levels, but for the final application the performance of the overall system is the critical one. This paper proposes a benchmarking framework for pick-and-place systems, inspired by a typical task in the logistic domain: picking up fruits and vegetables from a container and placing them in an order bin. The framework uses an easy-to-reproduce environment, a publicly available object set, and guidelines for creating scenarios of different complexity. The proposed benchmark is applied to evaluate the performance of four variants of a robotic system with different end-effectors.