MESSII: a parameter identification dataset for KUKA IIWA collaborative manipulator - Archive ouverte HAL Accéder directement au contenu
Pré-Publication, Document De Travail (Preprint/Prepublication) Année : 2022

MESSII: a parameter identification dataset for KUKA IIWA collaborative manipulator

Résumé

In this paper, we present the MESSII Dataset (Manipulator Experimental SyStem Identification and Interaction Dataset). This novel dataset aims at providing numerous sequences of movements of the KUKA iiwa manipulator, in order to evaluate methods for identification and estimation of the robot's dynamic parameters and signals, respectively. Different movements of the manipulator are provided, including trajectories moving one or multiple joints at the same time, trajectories that are specially designed for parameter identification, and trajectories including a payload attached at the end-effector of the manipulator. The information obtained from the propioceptive sensors of position and torque is presented. Furthermore, as physical Human-Robot Interaction (pHRI) is the main application of this robot, sequences with interaction with a person are provided to estimate the forces applied, where a force-torque sensor acts as the ground truth. The dataset can also be used in ROS to evaluate real-time methods as information is presented in rosbags files. Possible applications are given, highlighting the advantage of the dataset to help with state-of-the-art challenges, without the need of the real robot nor doing new and complex experiments. The dataset, as well as more information and tools, are publicly available in https://messii-dataset.enit.fr.
Fichier principal
Vignette du fichier
DataSet_Paper (1).pdf (2.56 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03866427 , version 1 (22-11-2022)

Identifiants

  • HAL Id : hal-03866427 , version 1

Citer

Fabio Ardiani, Martin Mujica, Mourad Benoussaad, Alexandre Janot, Jean-Yves Fourquet. MESSII: a parameter identification dataset for KUKA IIWA collaborative manipulator. 2022. ⟨hal-03866427⟩
157 Consultations
89 Téléchargements

Partager

Gmail Facebook X LinkedIn More