Benchmarking and simulating bimanual robot shoe lacing
File(s)
Author(s)
Luo, Haining
Demiris, Yiannis
Type
Journal Article
Abstract
Manipulation of deformable objects is a challenging domain in robotics. Although it has been gaining attention in recent years, long-horizon deformable object manipulation remains largely unexplored. In this letter, we propose a benchmark for the bi-manual Shoe Lacing (SL) task for evaluating and comparing long-horizon deformable object manipulation algorithms. SL is a difficult sensorimotor task in everyday life as well as the shoe manufacturing sector. Due to the complexity of the shoe structure, SL naturally requires sophisticated long-term planning. We provide a rigorous definition of the task and protocols to ensure the repeatability of SL experiments. We present 6 benchmark metrics for quantitatively measuring the ecological validity of approaches towards bi-manual SL. We further provide an open-source simulation environment for training and testing SL algorithms, as well as details of the construction and usage of the environment. We evaluate a baseline solution according to the proposed metrics in both reality and simulation.
Date Issued
2024-10
Date Acceptance
2024-07-15
Citation
IEEE Robotics and Automation Letters, 2024, 9 (10), pp.8202-8209
ISSN
2377-3766
Publisher
Institute of Electrical and Electronics Engineers
Start Page
8202
End Page
8209
Journal / Book Title
IEEE Robotics and Automation Letters
Volume
9
Issue
10
Copyright Statement
Copyright © 2024 IEEE. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Identifier
https://ieeexplore.ieee.org/document/10629040
Publication Status
Published
Date Publish Online
2024-08-07