Impact Aware Manipulation (I.AM.) archive containing recordings of impact-aware dual-arm grabbing (with or without impact) and tossing (or placing)

I.AM. archive as part of the Impact-Aware Robotics Archives Collection.<br>This archive contains recordings of experiments that are executed under the scenario of GRAB. In these recordings, two Franka Emika robots are used to grab, with or without impact, three different boxes placed on a pallet and either toss or place them. The purpose of these experiments is to obtain data that validates not only the effectiveness but also the speed and energy advantages of using dynamic grabbing and releasing of objects (using Impact and tossing) in comparison to the traditional picking and placing strategy in a depalletizing task.<br>All the recordings in the archive were performed at the Learning Algorithm and System Laboratory (LASA), located within the EPFL campus.

I.A.M. 档案库隶属于碰撞感知机器人档案集（Impact-Aware Robotics Archives Collection）。本档案库收录了GRAB场景下开展的实验录制数据。本次实验使用两台Franka Emika机械臂，对放置于托盘（pallet）上的三个不同箱体执行抓取操作，支持带碰撞与无碰撞两种模式，并可将箱体进行抛掷或放置。本系列实验的核心目标是获取实验数据，以验证在卸托盘任务（depalletizing task）中，相较于传统的拾取放置策略，采用动态抓取与释放物体的方式（借助碰撞与抛掷动作）不仅具备操作有效性，还拥有速度与能耗层面的优势。本档案库内的全部录制实验，均在坐落于洛桑联邦理工学院（EPFL）校园内的学习算法与系统实验室（Learning Algorithm and System Laboratory, LASA）中完成。