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

I.AM. archive as part of the Impact-Aware Robotics Archives Collection. This archive contains all data associated to the paper "Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release", as presented in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Kyoto, Japan, 2022. <br> This archive contains recordings of experiments that are executed under the scenario of TOSS. In these recordings, a UR10 robot is used to release and drop a plastic plate with different weights attached on a conveyor belt. The purpose of these experiments is to learn the release dynamics of the suction cup. This modeling framework is used 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. Within these experiments, the involved contact transition is a release between the robot and the object. All the recordings in the archive were performed at the Innovation Lab of Vanderlande, located within the TU/e campus.<br>

I.AM. 存档隶属于感知影响型机器人学档案合集（Impact-Aware Robotics Archives Collection）。本存档包含与论文《基于动作捕捉（Motion Capture）的吸盘动力学学习：释放阶段物体垂直运动的精准预测》相关的全部实验数据，该论文发表于2022年在日本京都举办的IEEE/RSJ国际智能机器人与系统大会（IEEE/RSJ International Conference on Intelligent Robots and Systems，简称IROS）。
本存档收录了TOSS场景下开展的系列实验录制数据。实验中采用UR10机械臂对粘贴有不同配重的塑料平板执行释放并抛下至传送带的操作。本系列实验的核心目标为学习吸盘的释放动力学特性。欧盟地平线2020（Horizon 2020）框架下的I.AM.项目（官网：www.i-am-project.eu）将此建模框架用于预测传送带上方被抛掷后的特定箱体的最终位姿。本次实验涉及的接触过渡过程为机械臂与被操作物体间的释放动作。本存档内的所有实验录制工作均在位于埃因霍温理工大学（TU/e）校区内的凡德兰（Vanderlande）创新实验室完成。