论文标题
graspa 1.0：graspa是机器人手臂握把性能基准
GRASPA 1.0: GRASPA is a Robot Arm graSping Performance benchmArk
论文作者
论文摘要
基准的使用是一种普遍且科学上有意义的实践，可以验证对同一任务的不同方法的性能。在机器人掌握公共对象集的使用的背景下，近年来已经出现了，但是尚未扎根于测试握把管道的主要协议和指标尚未扎根。在本文中，我们提出了Graspa版本1.0版，这是测试在物理机器人设置上掌握管道有效性的基准。这种方法通过提出不同的指标来解决此类管道的复杂性，以说明测试平台的功能和限制。作为示例应用程序，我们在ICUB类人类机器人上部署GRASPA，并使用它来对我们的握把管道进行基准测试。作为结束评论，我们讨论了我们获得的GRASPA指标是如何提供有关管道不同步骤如何影响整体抓地力性能的信息。
The use of benchmarks is a widespread and scientifically meaningful practice to validate performance of different approaches to the same task. In the context of robot grasping the use of common object sets has emerged in recent years, however no dominant protocols and metrics to test grasping pipelines have taken root yet. In this paper, we present version 1.0 of GRASPA, a benchmark to test effectiveness of grasping pipelines on physical robot setups. This approach tackles the complexity of such pipelines by proposing different metrics that account for the features and limits of the test platform. As an example application, we deploy GRASPA on the iCub humanoid robot and use it to benchmark our grasping pipeline. As closing remarks, we discuss how the GRASPA indicators we obtained as outcome can provide insight into how different steps of the pipeline affect the overall grasping performance.
