NOTICE: Due to a lapse in annual appropriations, most of this website is not being updated. Learn more.

Form submissions will still be accepted but will not receive responses at this time. Sections of this site for programs using non-appropriated funds (such as NVLAP) or those that are excepted from the shutdown (such as CHIPS and NVD) will continue to be updated.

U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

PUBLICATIONS

Mobile Robot and Mobile Manipulator Research Towards ASTM F45 Standards Developments

Published

Author(s)

Roger V. Bostelman, Tsai H. Hong

Abstract

Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.
Proceedings Title
SPIE 2016
Conference Dates
April 17-21, 2016
Conference Location
Baltimore, MD, US
Pub Type
Conferences

Download Paper

Local Download

Keywords

mobile manipulator, reproducible performance, smart manufacturing, ground truth, test methods, artifact
Transportation, Robotics, Manufacturing systems design and analysis and Manufacturing

Citation

Bostelman, R. and Hong, T. (2016), Mobile Robot and Mobile Manipulator Research Towards ASTM F45 Standards Developments, SPIE 2016, Baltimore, MD, US, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=920616 (Accessed October 10, 2025)

Issues

If you have any questions about this publication or are having problems accessing it, please contact [email protected].

Created April 20, 2016, Updated April 1, 2022
Was this page helpful?