New Test Method for Evaluating Ground Response Robot Dexterity: Rotate
1. Scope
The purpose of this proposed standard test method, as a part of a suite of robotic dexterity test methods for robot manipulators, is to quantitatively evaluate a remotely teleoperated robots capability of conducting a Rotate task on specified targets. This proposed standard, including its procedure and apparatuses, is specified in a way that can differentiate the proposed capability, efficiency, and/or survivability under test. As such, this proposed standard challenges the robot capability in repeatable ways to facilitate direct comparisons among different robot models as well as particular configurations of similar robot models. The suite of manipulation test methods quantifies a corresponding set of elemental capabilities necessary for ground robot response applications. Therefore, the suite should be used collectively to capture the overall manipulation capabilities. For this proposed standard, the targets to be rotated are oriented at specified directions and may be embedded at the bottoms of specified pipe sections. A set of the targets may be parallel in their respective directions, omnidirectional, or normal on a cylindrical surface. Such specifications provide progressively higher levels of difficulty. Additional task difficulties are also specified via target placement: horizontally or vertically, varying heights, and varying distances from the robot starting line. The proposed standardization includes the apparatuses, task procedure, and metric. Additional test methods will be developed within the suite to fully address robot manipulation capabilities. Systems with assistive capabilities or autonomous behaviors are not specifically rewarded in the performance metrics. What will be captured is the tested capability.
Keywords
C-IED, counter-IED, Emergency, human system interaction, improvised explosive device, IED, manipulation, operator control unit, OCU, remote teleoperation, responder, response, robot, robot task, test suite, rotate, urban search and rescue, US&R
Rationale
There are currently no such standard test methods.
