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A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems

Mnyusiwalla, Hussein and Triantafyllou, Pavlos and Sotiropoulos, Panagiotis and Roa Garzon, Máximo Alejandro and Friedl, Werner and Meenakshi Sundaram, Ashok and Russell, Duncan and Deacon, Graham (2020) A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems. IEEE Robotics and Automation Letters, 5 (2), pp. 1389-1396. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2965076. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/8954746


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 tasks, 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

Item URL in elib:https://elib.dlr.de/136149/
Document Type:Article
Title:A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Mnyusiwalla, HusseinOCADOUNSPECIFIED
Triantafyllou, PavlosOCADOUNSPECIFIED
Sotiropoulos, PanagiotisOCADOUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Friedl, WernerWerner.Friedl (at) dlr.dehttps://orcid.org/0000-0003-3002-7274
Meenakshi Sundaram, AshokAshok.MeenakshiSundaram (at) dlr.deUNSPECIFIED
Date:April 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2020.2965076
Page Range:pp. 1389-1396
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Performance Evaluation and Benchmarking; Factory Automation; Grasping
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:21 Sep 2020 11:27
Last Modified:20 Jun 2021 15:54

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