Towards a Test Battery to Benchmark Dexterous Performance in Teleoperated Systems

摘要

A high level of dexterity is becoming increasingly important for tele-operated inspection, maintenance and repair robots. A standard test to benchmark system dexterity can advance the design, quantify possible improvements, and increase the effectiveness of such systems. Because of the wide variety of tasks and application domains ranging from dismantling explosives from a safe distance to maintenance of deep sea oil rigs, we defined a library of basic, generic tasks and selected five tests that reflect these basic tasks and for which benchmark data already exist or are easy to gather: the Box & Block test, the Purdue Pegboard test, the Minnesota Manual Dexterity test, the ISO 9382 trajectory test (based on the ISO 9382:1998 standard) and the adapted version of the screwing subtest of the IROS 2017 service robots challenge.