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
Abstract
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 safety performance, however, no common metrics were agreed on nor standardized yet. In this paper, we propose a set of quantifiable performance criteria for robot performance analysis, objectifying robot force sensing, force control, and collision detection/reaction performance. We introduce the corresponding measurement setups and protocols, demonstrate and experimentally validate each with a Universal Robot UR10e and UR5e as well as a Franka Emika Panda robot arm. The proposed performance criteria, metrics, and experimental setups constitute the basis of a fully tactile performance and safety benchmarking framework that allows to objectively evaluate tactile robot performance via reproducible reference tests.