Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications
The National Institute of Standards and Technology is developing performance tests and associated artifacts to benchmark research in the area of robotic assembly. Sets of components consistent with mechanical assemblies including screws, gears, electrical connectors, wires, and belts are configured...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-11-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.999348/full |
| _version_ | 1811219201012006912 |
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| author | Kenneth Kimble Justin Albrecht Megan Zimmerman Joe Falco |
| author_facet | Kenneth Kimble Justin Albrecht Megan Zimmerman Joe Falco |
| author_sort | Kenneth Kimble |
| collection | DOAJ |
| description | The National Institute of Standards and Technology is developing performance tests and associated artifacts to benchmark research in the area of robotic assembly. Sets of components consistent with mechanical assemblies including screws, gears, electrical connectors, wires, and belts are configured for assembly or disassembly using a task board concept. Test protocols accompany the task boards and are designed to mimic low-volume, high-mixture assembly challenges typical to small and medium sized manufacturers. In addition to the typical rigid components found in assembled products, the task boards include many non-rigid component operations representative of wire harness and belt drive assemblies to support research in the area of grasping and manipulation of deformable objects, an area still considered to be an emerging research problem in robotics. A set of four primary task boards as well as competition task boards are presented as benchmarks along with scoring metrics and a method to compare robot system assembly times with human performance. Competitions are used to raise awareness to these benchmarks. Tools to progress and compare research are described along with emphasis placed on system competition-based solutions to grasp and manipulate deformable task board components. |
| first_indexed | 2024-04-12T07:21:50Z |
| format | Article |
| id | doaj.art-808fe5824ed2466695d068164195691c |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-12T07:21:50Z |
| publishDate | 2022-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-808fe5824ed2466695d068164195691c2022-12-22T03:42:17ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-11-01910.3389/frobt.2022.999348999348Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applicationsKenneth KimbleJustin AlbrechtMegan ZimmermanJoe FalcoThe National Institute of Standards and Technology is developing performance tests and associated artifacts to benchmark research in the area of robotic assembly. Sets of components consistent with mechanical assemblies including screws, gears, electrical connectors, wires, and belts are configured for assembly or disassembly using a task board concept. Test protocols accompany the task boards and are designed to mimic low-volume, high-mixture assembly challenges typical to small and medium sized manufacturers. In addition to the typical rigid components found in assembled products, the task boards include many non-rigid component operations representative of wire harness and belt drive assemblies to support research in the area of grasping and manipulation of deformable objects, an area still considered to be an emerging research problem in robotics. A set of four primary task boards as well as competition task boards are presented as benchmarks along with scoring metrics and a method to compare robot system assembly times with human performance. Competitions are used to raise awareness to these benchmarks. Tools to progress and compare research are described along with emphasis placed on system competition-based solutions to grasp and manipulate deformable task board components.https://www.frontiersin.org/articles/10.3389/frobt.2022.999348/fullgraspingmanipulationassemblyperformance benchmarksdeformable objects |
| spellingShingle | Kenneth Kimble Justin Albrecht Megan Zimmerman Joe Falco Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications Frontiers in Robotics and AI grasping manipulation assembly performance benchmarks deformable objects |
| title | Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications |
| title_full | Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications |
| title_fullStr | Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications |
| title_full_unstemmed | Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications |
| title_short | Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications |
| title_sort | performance measures to benchmark the grasping manipulation and assembly of deformable objects typical to manufacturing applications |
| topic | grasping manipulation assembly performance benchmarks deformable objects |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2022.999348/full |
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