IEEE Robotics & Automation Magazine - June 2021 - 82

the research activities. Following the objectives of the project,
the three main criteria for evaluation were 1) flexibility,
2) robustness, and 3) efficiency. Objectives relating to
these three goals are defined separately for each of the
modules described in the " System Components " section,
and the measures of success for these key objectives are
specified in Table 1.
Perception Module
The perception module performs the tasks of object pose estimation,
human body pose estimation, and gestures recognition.
The object pose estimation system was trained to detect
the two objects shown in Figure 3. Training for each object
requires a 3D model and some annotated RGB-D frames
from different viewpoints. For the purpose of this scenario,
the system was able to successfully detect and track in 3D the
two objects that were involved. The method can handle
objects of various sizes and shapes, given that they have some
appropriate textured faces.
Quantitative results of the human and object pose estimation
modules' accuracy require ground truth pose (e.g.,
provided by a motion capture system) that was not available
during the experiments. However, we provide test results of
the proposed methods, with data sets that provide ground
truth pose measurements. Table 2 presents the accuracy and
the computation cost of the perception algorithms.
Control Module
The grasping procedure runs on both heterogeneous manipulators
(TIAGo and PA-10) for two different object types
(heavy and light) to realize the loading and unloading tasks.
The ratios of successfully grasped objects that were recorded
during the experiments are depicted in Table 3. Moreover, the
errors of the six DoFs between the robots' end effectors and

IEEE Robotics & Automation Magazine - June 2021

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