Impact Aware Manipulation (I.AM.) archive containing recordings of impact-aware dual-arm grabbing (with or without impact) and tossing (or placing)

doi:10.4121/ab6142db-660e-4737-b7ea-b515bd072cd6.v2
The doi above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
doi: 10.4121/ab6142db-660e-4737-b7ea-b515bd072cd6
Datacite citation style:
Bombile, Michael; Billard, Aude; Hermus, James; Jeandupeux, Elise (2024): Impact Aware Manipulation (I.AM.) archive containing recordings of impact-aware dual-arm grabbing (with or without impact) and tossing (or placing) . Version 2. 4TU.ResearchData. dataset. https://doi.org/10.4121/ab6142db-660e-4737-b7ea-b515bd072cd6.v2
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite
Dataset
choose version:
version 2 - 2024-09-02 (latest)
version 1 - 2024-07-03

I.AM. archive as part of the Impact-Aware Robotics Archives Collection.


This archive contains recordings of experiments that are executed under the scenario of GRAB. In these recordings, two Franka Emika robots are used to grab, with or without impact, three different boxes placed on a pallet and either toss or place them. The purpose of these experiments is to obtain data that validates not only the effectiveness but also the speed and energy advantages of using dynamic grabbing and releasing of objects (using Impact and tossing) in comparison to the traditional picking and placing strategy in a depalletizing task.


All the recordings in the archive were performed at the Learning Algorithm and System Laboratory (LASA), located within the EPFL campus.

history
  • 2024-07-03 first online
  • 2024-09-02 published, posted
publisher
4TU.ResearchData
funding
  • Impact Aware Manipulation by Dexterous Robot Control and Learning in Dynamic Semi-Structured Logistic Environments (grant code 871899) [more info...] European Commission
organizations
Ecole Polytechnique Fédérale de Lausanne (EPFL)

DATA

files (2)