Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Robin Jeanne Kirschner,Alexander Kurdas,Kübra Karacan,Philipp Junge,Seyed Ali Baradaran Birjandi,Nico Mansfeld,Saeed Abdolshah,Sami Haddadin,Robin Jeanne Kirschner,Alexander Kurdas,Kübra Karacan,Philipp Junge,Seyed Ali Baradaran Birjandi,Nico Mansfeld,Saeed Abdolshah,Sami Haddadin

Improving robot systems via newly-developed sensing devices, control algorithms, or state estimators in order to obtain safe and efficient human-robot interaction as well as tactile manipulation skills requires standardized performance measurement protocols for objective comparison. Common protocols to evaluate robot motion performance are currently defined in EN ISO 9283:1998. For tactile and saf...