Stiffness Dataset

Three objects were employed. They have a cylindrical shape and are made of different materials that characterize the stiffness: 1) a deformable rubber-like object with slight stiffness (SR), 2) a harder rubber-like object (HR), and 3) a rigid object made of wood (RW). We collected data by performing 20 grasp/release sequential trials on each object 12 times, modifying the position of Baxter's arm each time, and paying attention that at least one sensor out of the four was in contact with the manipulated object. Eventually, we obtained 240 grasping operations on each object. Each trial takes 3 seconds: 1 second of grasping and 2 seconds release.

本数据集共采用三件圆柱状实验物体，其材质差异决定了各自的刚度特性：1）轻度刚度可变形类橡胶物体（SR）；2）高硬度类橡胶物体（HR）；3）木质刚性物体（RW）。我们针对每件物体，以每次调整巴克斯特（Baxter）机械臂位置的方式，开展12轮包含20次抓取/释放连续试验的流程，并确保四组传感器中至少有一组与被操作物体保持接触，以此采集数据。最终，每件物体可获得240次抓取操作的有效数据。单次试验时长为3秒，其中抓取阶段耗时1秒，释放阶段耗时2秒。