3 research outputs found
Soft Gripping: Specifying for Trustworthiness
Soft robotics is an emerging technology in which engineers create flexible
devices for use in a variety of applications. In order to advance the wide
adoption of soft robots, ensuring their trustworthiness is essential; if soft
robots are not trusted, they will not be used to their full potential. In order
to demonstrate trustworthiness, a specification needs to be formulated to
define what is trustworthy. However, even for soft robotic grippers, which is
one of the most mature areas in soft robotics, the soft robotics community has
so far given very little attention to formulating specifications. In this work,
we discuss the importance of developing specifications during development of
soft robotic systems, and present an extensive example specification for a soft
gripper for pick-and-place tasks for grocery items. The proposed specification
covers both functional and non-functional requirements, such as reliability,
safety, adaptability, predictability, ethics, and regulations. We also
highlight the need to promote verifiability as a first-class objective in the
design of a soft gripper.Comment: Updated the Standards subsection of paper. 9 pages, 2 figures, 1
table, 34 reference
The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation
Autonomous and reliable robotic grasping is a desirable functionality in robotic manipulation and is still an open problem. Standardized benchmarks are important tools for evaluating and comparing robotic grasping and manipulation systems among different research groups and also for sharing with the community the best practices to learn from errors. An ideal benchmarking protocol should encompass the different aspects underpinning grasp execution, including the mechatronic design of grippers, planning, perception, and control to give information on each aspect and the overall problem. This article gives an overview of the benchmarks, datasets, and competitions that have been proposed and adopted in the last few years and presents a novel benchmark with protocols for different tasks that evaluate both the single components of the system and the system as a whole, introducing an evaluation metric that allows for a fair comparison in highly cluttered scenes taking into account the difficulty of the clutter. A website dedicated to the benchmark containing information on the different tasks, maintaining the leaderboards, and serving as a contact point for the community is also provided