AUTHOR=Kimble Kenneth , Albrecht Justin , Zimmerman Megan , Falco Joe TITLE=Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications JOURNAL=Frontiers in Robotics and AI VOLUME=9 YEAR=2022 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2022.999348 DOI=10.3389/frobt.2022.999348 ISSN=2296-9144 ABSTRACT=

The National Institute of Standards and Technology is developing performance tests and associated artifacts to benchmark research in the area of robotic assembly. Sets of components consistent with mechanical assemblies including screws, gears, electrical connectors, wires, and belts are configured for assembly or disassembly using a task board concept. Test protocols accompany the task boards and are designed to mimic low-volume, high-mixture assembly challenges typical to small and medium sized manufacturers. In addition to the typical rigid components found in assembled products, the task boards include many non-rigid component operations representative of wire harness and belt drive assemblies to support research in the area of grasping and manipulation of deformable objects, an area still considered to be an emerging research problem in robotics. A set of four primary task boards as well as competition task boards are presented as benchmarks along with scoring metrics and a method to compare robot system assembly times with human performance. Competitions are used to raise awareness to these benchmarks. Tools to progress and compare research are described along with emphasis placed on system competition-based solutions to grasp and manipulate deformable task board components.