학술논문
A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 5(2):1389-1396 Apr, 2020
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
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.