The effects of selected object features on a pick-and-place task: A human multimodal dataset

IF 7.5 1区计算机科学 Q1 ROBOTICS

International Journal of Robotics Research Pub Date : 2023-10-30 DOI:10.1177/02783649231210965

Linda Lastrico, Valerio Belcamino, Alessandro Carfì, Alessia Vignolo, Alessandra Sciutti, Fulvio Mastrogiovanni, Francesco Rea

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引用次数: 0

Abstract

We propose a dataset to study the influence of object-specific characteristics on human pick-and-place movements and compare the quality of the motion kinematics extracted by various sensors. This dataset is also suitable for promoting a broader discussion on general learning problems in the hand-object interaction domain, such as intention recognition or motion generation with applications in the Robotics field. The dataset consists of the recordings of 15 subjects performing 80 repetitions of a pick-and-place action under various experimental conditions, for a total of 1200 pick-and-places. The data has been collected thanks to a multimodal setup composed of multiple cameras, observing the actions from different perspectives, a motion capture system, and a wrist-worn inertial measurement unit. All the objects manipulated in the experiments are identical in shape, size, and appearance but differ in weight and liquid filling, which influences the carefulness required for their handling.

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选定对象特征对拾取和放置任务的影响:人类多模态数据集

我们提出了一个数据集来研究物体特定特征对人类拾取运动的影响，并比较各种传感器提取的运动运动学的质量。该数据集也适用于促进对手-对象交互领域中一般学习问题的更广泛讨论，例如机器人领域中的意图识别或运动生成应用。该数据集由15名受试者在不同实验条件下重复80次拾取和放置动作的记录组成，总共有1200次拾取和放置。这些数据的收集得益于由多个摄像头组成的多模式设置，从不同的角度观察动作，一个动作捕捉系统和一个手腕上佩戴的惯性测量单元。在实验中操作的所有物体在形状、大小和外观上都是相同的，但重量和液体填充不同，这影响了搬运它们时需要的小心。

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

International Journal of Robotics Research 工程技术-机器人学

CiteScore

22.20

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The International Journal of Robotics Research (IJRR) has been a leading peer-reviewed publication in the field for over two decades. It holds the distinction of being the first scholarly journal dedicated to robotics research. IJRR presents cutting-edge and thought-provoking original research papers, articles, and reviews that delve into groundbreaking trends, technical advancements, and theoretical developments in robotics. Renowned scholars and practitioners contribute to its content, offering their expertise and insights. This journal covers a wide range of topics, going beyond narrow technical advancements to encompass various aspects of robotics. The primary aim of IJRR is to publish work that has lasting value for the scientific and technological advancement of the field. Only original, robust, and practical research that can serve as a foundation for further progress is considered for publication. The focus is on producing content that will remain valuable and relevant over time. In summary, IJRR stands as a prestigious publication that drives innovation and knowledge in robotics research.