Paper Info
Title
A Benchmarking Framework for Systematic Evaluation of Compliant Under-Actuated Soft End Effectors in an Industrial Context
Abstract
This paper presents an approach for systematic evaluation of robotic end effectors for an industrial use case that handles delicate, deformable, non-regular objects such as fruits and vegetables. To handle these objects, soft under-actuated hands are the most promising technology so far. However, the approach directions suitable for grasping objects are not usually easy to establish due to the under-actuation effect; therefore, we propose an experimental protocol to serve as framework for data collection, which aims to assess the best directions for grasping using a particular end effector. This protocol, focused on reproducibility and comparability, allows for a better understanding of how a particular hand embodiment influences grasping success for individual products. The protocol can also be used as an effective tool for redesign, and it was applied to evaluate two well-known soft hands (RBO Hand and Pisa/IIT SoftHand) for handling groceries.
Year
DOI
Venue
2018
10.1109/HUMANOIDS.2018.8624924
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Keywords
Field
DocType
under-actuation effect,experimental protocol,soft hands,RBO Hand,benchmarking framework,systematic evaluation,compliant under-actuated soft end effectors,robotic end effectors,nonregular objects,under-actuated hands,hand embodiment,data collection
Data collection,Computer science,Simulation,Robot end effector,Human–computer interaction,Comparability,Benchmarking
Conference
ISSN
ISBN
Citations 
2164-0572
978-1-5386-7284-6
0
PageRank 
References 
Authors
0.34
6
7
Name
Order
Citations
PageRank
Panagiotis Sotiropoulos112.05
Máximo A. Roa237327.42
Murilo F. Martins300.34
Werner Friedl400.34
Hussein Mnyusiwalla500.68
Pavlos Triantafyllou601.01
Graham E. Deacon701.69