Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-Effectors
Joe Falco, Daniel Hemphill, Kenny Kimble, Elena Messina, Adam Norton, Rafael Ropelato, Holly A. Yanco
Abstract
This paper describes a set of metrics and supporting benchmarking protocols for determining the performance characteristics of robot end-effectors. In the short-term, these tools are proving useful as a common ground for assessing and comparing end-effectors. The long-term goal is a standard framework for providing technical specifications for robotic end-effectors to help pair technologies to application spaces. This paper presents a subset of the metrics - grasp strength, grasp cycle time, finger strength, and finger repeatability - with accompanying measurement techniques and supporting test artifacts. The application of these metrics and protocols is demonstrated using example implementations to characterize a variety of robot end-effectors, with example data sets and test designs provided for downloading.
BibTeX
@inproceedings{ral2020_benchmarkingprot,
title = {Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-Effectors},
author = {Joe Falco and Daniel Hemphill and Kenny Kimble and Elena Messina and Adam Norton and Rafael Ropelato and Holly A. Yanco},
booktitle = {RA-L 2020},
year = {2020}
}