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Benchmarking Robot Force Control Capabilities: Experimental Results



Joseph A. Falco, Jeremy A. Marvel, Richard J. Norcross, Karl Van Wyk


Metrics and test methods are needed to characterize the control capabilities of robots with both intrinsic and extrinsic force sensing. The availability of these benchmarks will motivate research product development, and provide a mechanism for reporting and evaluating systems for the application space. This report presents a preliminary set of metrics and associated test methods with illustrative examples for assessing the performance of force-based robot control.
NIST Interagency/Internal Report (NISTIR) - 8097
Report Number


Performance Measures, Force Control, Robotics


Falco, J. , Marvel, J. , Norcross, R. and Van, K. (2016), Benchmarking Robot Force Control Capabilities: Experimental Results, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], (Accessed July 24, 2024)


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Created January 7, 2016, Updated November 10, 2018