A Standardized Benchmark for Humanoid Whole-Body Manipulation

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) Pub Date : 2022-11-28 DOI:10.1109/Humanoids53995.2022.10000141

William Thibault, Francisco Javier Andrade Chavez, K. Mombaur

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Abstract

In this paper we focus on the evaluation of humanoid manipulation skills while balancing on two feet. This involves manipulation while standing and loco-manipulation where the object is being manipulated while taking steps. With this objective in mind, an initial study of whole-body manipulation in a box manipulation scenario with two dif-ferent motions using the University of Waterloo's REEM-C, “Seven”, is investigated to provide insight into a valuable setup, comprehensive test protocols and useful performance metrics based on real world data. The contribution of this paper is a proposed benchmark for whole-body manipulation consisting of the design of a test bed inspired by real use cases for humanoid whole-body manipulation tasks, the definition of a set of protocols to standardize the testing procedure and insightful key performance indicators (KPIs) based on this initial study with the real robot. The proposed benchmark for humanoid whole-body manipulation is part of the EUROBENCH project that aims at creating a benchmarking framework for robotic systems performing locomotion related tasks.

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仿人全身操作的标准化基准

在本文中，我们的重点是评估人形操纵技能，同时保持平衡的两脚。这包括站立时的操作和在采取步骤时操作对象的局部操作。考虑到这一目标，在使用滑铁卢大学REEM-C“Seven”的两种不同动作的盒子操作场景中对全身操作进行了初步研究，以深入了解有价值的设置，全面的测试协议和基于真实世界数据的有用性能指标。本文的贡献是提出了一个全身操作的基准，包括设计一个受仿人全身操作任务实际用例启发的试验台，定义一套标准化测试程序的协议，以及基于对真实机器人的初步研究的关键性能指标(kpi)。拟制的仿人全身操纵基准是EUROBENCH项目的一部分，该项目旨在为执行运动相关任务的机器人系统创建基准框架。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)

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