The Impact-Aware Robotics Database: Supporting Research Targeting the Exploitation of Dynamic Contact Transitions
Résumé
We present a new database supporting the development of impact-aware robotics, an emerging field of research focused on enabling robots to exploit physical impacts with objects and environments to allow for dynamic manipulation and locomotion. The database can store a wide variety of datasets containing recorded impact experiments where robots, objects, and environments experience intentional collisions while performing dynamic robotic tasks. Examples are object tossing with robotic arms to speed up throughput or grabbing swiftly a heavy object. This open database based on FAIR principles provides access to data that supports research related to, e.g., modeling, control, parameter identification, and object tracking. We propose specific procedures for capturing, labeling, and storing the data based on a new impact-aware robotics taxonomy to facilitate the cataloging and search of specific datasets. We provide open software tools to structurally collect and store the data and allow other research groups to contribute their datasets to the database. A custom web interface allows end-users to efficiently browse the database and download datasets.
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