The Impact-Aware Robotics Database - Archive ouverte HAL
Pré-Publication, Document De Travail Année : 2022

The Impact-Aware Robotics Database

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. This database allows getting access to data that can be used to answer various research questions related to, e.g., motion planning, parameter identification, and object tracking. The database can store a wide variety of datasets obtained from recordings of impact experiments. In these experiments, robots, objects, and environments are used in the context of physical impacts to perform various robotic tasks, such as object tossing with robotic arms to speed up throughput or drones impacting walls for inspection. To facilitate the search of specific datasets, we propose specific procedures for capturing, labeling, and storing the data based on an impact-aware robotics taxonomy. We provide software tools to structurally collect and store the data and allow other research groups to contribute their datasets to the database. We developed a web interface that allows end-users to efficiently search the database and download datasets.
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Dates et versions

hal-03900923 , version 1 (15-12-2022)
hal-03900923 , version 2 (23-06-2023)

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  • HAL Id : hal-03900923 , version 1

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Maarten Johannes Jongeneel, Sander Dingemans, Alessandro Saccon. The Impact-Aware Robotics Database. 2022. ⟨hal-03900923v1⟩
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