A Benchmark Set of Domestic Objects for Service Robot Manipulation

The following everyday, household objects are ranked based on interviews with 25 ALS patients from the Emory ALS Center. We asked the participants to provide relative importance of retrieval of each object by a robot. Although the objects list was validated by population of ALS patients and focused on object retrieval, we hope the object lists provide a common set of practical objects for evaluating wider manipulation and grasp strategies.

The object list in this web page is based on the latest data collected until February 2009. For previous object lists, please refer following resources:

rank	image	orientation	name	procurement
		-	TV Remote	Amazon.com
		-	Medicine Pill	See #3 (Medicine Bottle)
		-	Cordless Phone	Amazon.com
		-	Medicine Bottle	Amazon.com
		-	Fork	Plastic Metal, Amazon.com
		-	Glasses	Amazon.com
		-	Toothbrush	Local Convenience Store
		-	Spoon	See #7 (fork)
		-	Cell Phone	Amazon.com
		-	Toothpaste	Local Convenient Store
		-	Book	Amazon.com
		-	Hand Towel	Amazon.com
		-	Mail	Amazon.com
		-	Cup / Mug	Plastic Ceramic, Amazon.com
		-	Soap	Local Convenient Store
		-	Disposable Bottle	Amazon.com
		-	Shoe / Sandal	Amazon.com
		-	Bowl	Amazon.com
		-	Keys	Amazon.com
		-	Dish Plate	Amazon.com
		-	Pen / Pencil	Amazon.com
		-	Table Knife	See #7 (fork)
		-	Credit Card	Local Convenience Store
		-	Medicine Box	Amazon.com
		-	Bill	N/A
		-	Straw	Amazon.com
		-	Magazine	Local Convenience Store
		-	Plastic Container	Amazon.com
		-	Newspaper	Local Convenience Store
		-	Non-Disposable Bottle	Amazon.com
		-	Pants	Amazon.com
		-	Shirt	Amazon.com
		-	Wallet	Amazon.com
		-	Small Pillow	Amazon.com
		-	Socks	Amazon.com
		-	Hairbrush	Amazon.com
		-	Can	Local Convenience Store
		-	Coin	Local Convenience Store
		-	Walking Cane	Amazon.com
		-	Wrist Watch	Amazon.com
		-	Scissors	Amazon.com
		-	Purse	Amazon.com
		-	Lighter	Amazon.com

Publications

tag:objects_list