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Robotic Untangling of Herbs and Salads with Parallel Grippers

dataset
posted on 08.06.2022, 09:32 authored by Prabhakar RayPrabhakar Ray, Matthew HowardMatthew Howard

This data supports the work done in the paper titled "Robotic Picking of Tangle-prone Granular Materials using Parallel Grippers". 



The data folder consists of 5 csv files. Files follow the below naming convention.


                             "Material"_"method(s)".csv 


 A). protrusions.csv -- 

Picking data as collected to compare granular materials(GMs) with and without protrusions.

columns:

gw(mm): gripper aperture in mm.

pw_with(g): picked mass in grams for GMs with protrusions.

pw_without(g): picked mass in grams for GMs without protrusions.


 B). staples_FP_SnP.csv -- 

Picking data as collected to compare Fixed-point(FP) with Spread-and-Pick(SnP) for staples.

columns:

pw_FP(g): picked mass in grams for staples following FP-based picking.

pw_SnP(g): picked mass in grams for staples following SnP-based picking.

l(mm): protrusion length in mm.


 C). plastic_GI_SnP.csv --

Picking data as collected to compare Graspability-Index(GI) with Spread-and-Pick(SnP) for plastic herbs.

columns:

pw_GI(g): picked mass in grams for staples following GI-based picking.

pw_SnP(g): picked mass in grams for staples following SnP-based picking.

m_t(g): target mass in grams.


 D). wild_rocket_GI_SnP.csv -- 

Picking data as collected to compare GI with Spread-and-Pick(SnP) for wild rocket.

columns:

pw_GI(g): picked mass in grams for staples following GI-based picking.

pw_SnP(g): picked mass in grams for staples following SnP-based picking.

m_t(g): target mass in grams.


 E). parsley_GI_SnP.csv -- 

Picking data as collected to compare GI with Spread-and-Pick(SnP) for flat-leaf parsley.

columns:

pw_GI(g): picked mass in grams for staples following GI-based picking.

pw_SnP(g): picked mass in grams for staples following SnP-based picking.

m_t(g): target mass in grams.


 


History

Collection method

Robot experiments