A dataset of daily interactive manipulation

被引：28

作者：

Huang, Yongqiang ^{[1
]}

Sun, Yu ^{[1
]}

机构：

[1] Univ S Florida, Dept Comp Sci & Engn, Tampa, FL USA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2019年 / 38卷 / 08期

基金：

美国国家科学基金会;

关键词：

Dataset; interactive manipulation; force; motion tracking; OBJECT MANIPULATION; FORCE;

D O I：

10.1177/0278364919849091

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Robots that succeed in factories may struggle to complete even the simplest daily task that humans take for granted, because the change of environment makes the task exceedingly difficult. Aiming to teach robots to perform daily interactive manipulation in a changing environment using human demonstrations, we collected our own data of interactive manipulation. The dataset focuses on the position, orientation, force, and torque of objects manipulated in daily tasks. The dataset includes 1,603 trials of 32 types of daily motions and 1,596 trials of pouring alone, as well as helper code. We present our dataset to facilitate the research on task-oriented interactive manipulation.

引用

页码：879 / 886

页数：8

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