面向空载和工业机器人的跨体态夹具基准测试
A Cross-Embodiment Gripper Benchmark for Rigid-Object Manipulation in Aerial and Industrial Robotics
AI总结：
本文提出跨体态夹具基准测试，用于评估夹具在不同机器人平台上的抓取性能和节能能力。
摘要：
机器人夹具正被越来越多地应用于工业、协作和空中平台，其中每个体态施加了不同的机械、能量和操作约束。已建立的YCB和NIST基准量化了在单一平台上抓取成功率、力或时间，但无法评估跨体态转移性和节能性能，这些能力对于现代移动和空中操作至关重要。本文介绍了一种跨体态夹具基准测试（CEGB），它是一个紧凑且可重复的基准测试套件，扩展了YCB和选定的NIST指标，并增加了三个额外组件：一个转移时间基准测试，用于测量交换体态所需的实际努力；一个能耗基准测试，用于评估抓取和保持效率；以及一个意图特定的理想负载评估，反映了设计相关的操作能力。这些指标共同描述了抓取性能和在异构机器人系统中重用单个夹具的适用性。一个轻量自锁夹具原型被作为参考案例实现。实验显示快速的体态转移（用户组的中位数约为17.6秒），低的夹具原型保持能耗（约为1.5焦耳每10秒），以及一致的抓取性能，循环时间为3.2-3.9秒，成功率超过90%。因此，CEGB为空中和操作器领域的夹具在跨平台、节能评估提供了可重复的基础。
英文摘要：
Robotic grippers are increasingly deployed across industrial, collaborative, and aerial platforms, where each embodiment imposes distinct mechanical, energetic, and operational constraints. Established YCB and NIST benchmarks quantify grasp success, force, or timing on a single platform, but do not evaluate cross-embodiment transferability or energy-aware performance, capabilities essential for modern mobile and aerial manipulation. This letter introduces the Cross-Embodiment Gripper Benchmark (CEGB), a compact and reproducible benchmarking suite extending YCB and selected NIST metrics with three additional components: a transfer-time benchmark measuring the practical effort required to exchange embodiments, an energy-consumption benchmark evaluating grasping and holding efficiency, and an intent-specific ideal payload assessment reflecting design-dependent operational capability. Together, these metrics characterize both grasp performance and the suitability of reusing a single gripper across heterogeneous robotic systems. A lightweight self-locking gripper prototype is implemented as a reference case. Experiments demonstrate rapid embodiment transfer (median ~= 17.6 s across user groups), low holding energy for gripper prototype (~= 1.5 J per 10 s), and consistent grasp performance with cycle times of 3.2 - 3.9 s and success rates exceeding 90%. CEGB thus provides a reproducible foundation for cross-platform, energy-aware evaluation of grippers in aerial and manipulators domains.
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