IEEE Robotics & Automation Magazine - September 2015 - 42
experiments. We also benefit from the studies on objects of
daily living [52] and daily activities checklists such as [53].
In compiling the proposed object and task set, we needed to
take a number of additional practical issues into consideration.
● Variety: To cover as many aspects of robotic manipulation as
possible, we included objects that have a wide variety of shapes,
sizes, transparencies, deformabilities, and textures. Considering
size, the necessary grasp aperture varies from 14 cm (the diameter of the soccer ball) to 0.64 cm (the diameter of the smallest
washer). Considering deformability, we have rigid objects together with foam bricks, a sponge, deformable balls, and articulated objects. Regarding transparency, we have included a
transparent plastic wine glass, a glass skillet lid, and a semitransparent bottle of glass cleaner. The set includes objects with uniform plain textures, such as the pitcher and the stacking cups,
and objects with irregular textures, like most of the groceries.
Grasping and manipulation difficulty was also a criterion: for
instance, some objects in the set are well approximated by simple geometric shapes (e.g., the box-shaped objects in the food
category or the balls in the shape category) and relatively easy
Figure 3. The tool items in the YCB object set. Back row, from
left: a power drill and wood block. Middle row, from left: scissors,
a padlock and keys, markers (two sizes), an adjustable wrench,
Phillips- and flat-head screwdrivers, wood screws, nails (two
sizes), plastic bolts and nuts, and a hammer. Front row: spring
clamps (four sizes).
(a)
(b)
Figure 6. The assembly object: (a) the toy airplane
disassembled, including a toy power screwdriver, and (b) the
fully assembled airplane.
Figure 4. The shape items in the YCB object set. Back row, from
left: a mini soccer ball, a softball, a baseball, a tennis ball, a
racquetball, and a golf ball. Front row, from left: a plastic chain,
washers (seven sizes), a foam brick, dice, marbles, a rope, stacking
cups (set of ten), and a blank credit card.
(a)
(b)
Figure 5. (a) The improvised box-and-blocks test objects: a set
of 100 wooden cubes, two containers, and a height obstacle
(container lid) between them. (b) The nine-hole peg test: wooden
pegs are placed in holes and stored in the body of the box.
42
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
Figure 7. The assembly object: Lego Duplo pieces.
*
September 2015
(a)
(b)
Figure 8. The task items: (a) a black T-shirt and (b) a timer for
accurate timing and as a manipulation object with a keypad.
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