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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

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