Name
Abstract | ||
|---|---|---|
In recent years, many learning based approaches have been studied to realize robotic manipulation and assembly tasks, often including vision and force/tactile feedback. However, it is unclear what the baseline state-of-the-art performance is and what the bottleneck problems are. In this work, we evaluate off-the-shelf (OTS) industrial solutions on a recently introduced benchmark, the National Institute of Standards and Technology (NIST) Assembly Task Board. A set of assembly tasks is introduced and baseline methods are provided to understand their intrinsic difficulty. Multiple sensor-based robotic solutions are then evaluated, including hybrid force/motion control and 2D/3D pattern matching. An end-to-end integrated solution that accomplishes the tasks is also provided. The results and findings throughout the study reveal a few noticeable factors that impede the adoptions of the OTS solutions: dependency on expertise, limited applicability, lack of interoperability, no scene awareness or error recovery mechanisms, and high cost. This paper also provides a first attempt of an objective benchmark performance on the NIST Assembly Task Boards as a reference comparison for future works on this problem. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/IROS51168.2021.9636586 | 2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
DocType | ISSN | Citations |
Conference | 2153-0858 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenzhao Lian | 1 | 0 | 0.34 |
| Tim Kelch | 2 | 0 | 0.34 |
| Dirk Holz | 3 | 0 | 0.34 |
| Adam Norton | 4 | 19 | 4.10 |
| Stefan Schaal | 5 | 6081 | 530.10 |