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 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/ab6142db-660e-4737-b7ea-b515bd072cd6.v1

Dataset

x choose version: version 2 - 2024-09-02 (latest)

• Mechanical Engineering
• Interdisciplinary Engineering
• Engineering

Collision, Grab, Impact, Impact-Aware Manipulation, Place, Robotics, Toss

CC BY-NC-SA 4.0

• Impact-Aware Robotics Archives Collection
• Impact-Aware Robotics Database

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by Michael Bombile , Aude Billard , James Hermus , Elise Jeandupeux

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.

• 2024-07-03 first online, published, posted

4TU.ResearchData

• Impact Aware Manipulation by Dexterous Robot Control and Learning in Dynamic Semi-Structured Logistic Environments (grant code 871899) [more info...] European Commission

Ecole Polytechnique Fédérale de Lausanne (EPFL)