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.

本I.A.M.档案包隶属于感知碰撞机器人学档案集（Impact-Aware Robotics Archives Collection）。本档案包收录了GRAB场景下开展的实验录制数据。录制过程中，两台Franka Emika机械臂被用于抓取托盘上的三款不同箱体：抓取环节可带碰撞或无碰撞，最终将箱体抛掷或放置到位。本系列实验旨在获取数据，以验证相较于卸垛任务中的传统拾取-放置策略，采用动态抓取与释放（借助碰撞与抛掷方式）的方案不仅有效性更优，同时还具备速度与能耗层面的优势。本档案包内的所有录制实验均在坐落于EPFL校园内的学习算法与系统实验室（Learning Algorithm and System Laboratory，缩写LASA）中完成。