Benchmarking Robot Manipulation With the Rubik's Cube
Benchmarking Robot Manipulation With the Rubik's Cube
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DOI：
10.1109/lra.2020.2969912
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发表时间：
2020-01
影响因子：
5.2
通讯作者：
Boling Yang;Patrick E. Lancaster;S. Srinivasa;Joshua R. Smith
中科院分区：
文献类型：
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作者：
Boling Yang;Patrick E. Lancaster;S. Srinivasa;Joshua R. Smith
机器人操作的基准对于衡量该领域的进展至关重要，但很少有基准能够展示关键的操作技能、拥有标准化的指标，并且可以通过各种机器人平台进行尝试。为了解决缺乏此类基准的问题，我们提出魔方操作作为基准来衡量精确操作和顺序操作的同时性能。魔方的子结构要求机器人末端执行器的精确定位，而其高度可重构的特性使得需要机器人在整个长动作序列中管理不确定性的任务成为可能。我们提出了一种定量测量魔方操作的准确性和速度的协议。任何通用操纵器都可以尝试该协议，并且只需要一个标准的 3 × 3 魔方和魔方最初放置的平坦表面（例如桌子）。我们在 PR2 机器人上针对两种不同的基线方法演示了该协议。第一个基线为基于姿势的魔方操作提供了基本方法。第二条基线展示了基准测试量化系统性能改进的能力，特别是通过集成触摸前传感而产生的性能改进。为了证明该基准测试对其他机器人平台和算法方法的适用性，我们提出了使 HERB 机器人能够通过推握操作魔方所需的功能块。
Benchmarks for robot manipulation are crucial to measuring progress in the field, yet there are few benchmarks that demonstrate critical manipulation skills, possess standardized metrics, and can be attempted by a wide array of robot platforms. To address a lack of such benchmarks, we propose Rubik's cube manipulation as a benchmark to measure simultaneous performance of precise manipulation and sequential manipulation. The sub-structure of the Rubik‘s cube demands precise positioning of the robot's end effectors, while its highly reconfigurable nature enables tasks that require the robot to manage pose uncertainty throughout long sequences of actions. We present a protocol for quantitatively measuring both the accuracy and speed of Rubik's cube manipulation. This protocol can be attempted by any general-purpose manipulator, and only requires a standard 3 × 3 Rubik‘s cube and a flat surface upon which the Rubik's cube initially rests (e.g. a table). We demonstrate this protocol for two distinct baseline approaches on a PR2 robot. The first baseline provides a fundamental approach for pose-based Rubik's cube manipulation. The second baseline demonstrates the benchmark's ability to quantify improved performance by the system, particularly that resulting from the integration of pre-touch sensing. To demonstrate the benchmark‘s applicability to other robot platforms and algorithmic approaches, we present the functional blocks required to enable the HERB robot to manipulate the Rubik's cube via push-grasping.