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
1
TV Remote
Amazon.com
2
Medicine Pill
See #4 (Medicine Bottle)
3
Cordless Phone
Amazon.com
4
Medicine Bottle
Amazon.com
5
Fork
PlasticMetal, Amazon.com
6
Glasses
Amazon.com
7
Toothbrush
Local Convenience Store
8
Spoon
See #5 (fork)
9
Cell Phone
Amazon.com
10
Toothpaste
Local Convenient Store
11
Book
Amazon.com
12
Hand Towel
Amazon.com
13
Mail
Amazon.com
14
Cup / Mug
PlasticCeramic, Amazon.com
15
Soap
Local Convenient Store
16
Disposable Bottle
Amazon.com
17
Shoe / Sandal
Amazon.com
18
Bowl
Amazon.com
19
Keys
Amazon.com
20
Dish Plate
Amazon.com
21
Pen / Pencil
Amazon.com
22
Table Knife
See #5 (fork)
23
Credit Card
Local Convenience Store
24
Medicine Box
Amazon.com
25
Bill
N/A
26
Straw
Amazon.com
27
Magazine
Local Convenience Store
28
Plastic Container
Amazon.com
29
Newspaper
Local Convenience Store
30
Non-Disposable Bottle
Amazon.com
31
Pants
Amazon.com
32
Shirt
Amazon.com
33
Wallet
Amazon.com
34
Small Pillow
Amazon.com
35
Socks
Amazon.com
36
Hairbrush
Amazon.com
37
Can
Local Convenience Store
38
Coin
Local Convenience Store
39
Walking Cane
Amazon.com
40
Wrist Watch
Amazon.com
41
Scissors
Amazon.com
42
Purse
Amazon.com
43
Lighter
Amazon.com

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