Impact Aware Manipulation (I.AM.) archive containing suction cup recordings

I.AM. archive as part of the Impact-Aware Robotics Archives Collection. This archive contains recordings of experiments that are executed under the<br>scenario of TOSS. In these recordings, a UR10 robot is used to manipulate a plastic plate, loaded with different weights, using a suction-cup end-effector under vacuum. The<br>purpose of these experiments is to validate a modeling framework of the suction-cup. This modeling framework is used<br>within the H2020 I.AM. project (www.i-am-project.eu) to predict the end pose of a certain box on a conveyor belt, after it is tossed.<br>This means that the involved contact is between the robot and the object, which<br>in these recordings are the UR10 and a plastic plate, respectively. All the recordings in the archive were performed at the Innovation Lab of Vanderlande, located within the TU/e campus.

本数据集档案隶属于冲击感知机器人学档案集（Impact-Aware Robotics Archives Collection），作为其组成部分。该档案集收录了抛投（TOSS）场景下的实验录制数据：实验中，研究人员使用UR10机械臂搭载真空吸盘末端执行器（suction-cup end-effector），对加载有不同配重的塑料托盘进行操作。本次实验的核心目的为验证吸盘建模框架，该框架作为地平线2020（H2020）框架下I.A.M.项目（官网：www.i-am-project.eu）的组成部分，用于预测传送带上特定箱体经抛投后的最终位姿。实验涉及的交互为机械臂与被操作物体间的接触，在本次录制数据中，二者分别为UR10机械臂与塑料托盘。本档案集中的所有录制实验均在位于埃因霍温理工大学（TU/e）校区内的范德兰（Vanderlande）创新实验室完成。