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Displaying 26 - 50 of 317

Recent Advances in Industrial Robotics - Introduction

March 15, 2021
Author(s)
Satyandra K. Gupta, Venkat Krovi, Craig I. Schlenoff
Manufacturing is the staged transformation of raw materials into finished goods (using human-labor, machines, tools, mechanical, chemical or biological processing) on a large scale. The production-line represents a key innovation of the industrial

Technology Readiness Levels for Randomized Bin Picking, Performance Metrics for Intelligent Systems (PerMIS) 2012 Workshop, Special Session

February 8, 2021
Author(s)
Jeremy Marvel, Roger D. Eastman, Geraldine S. Cheok, Kamel S. Saidi, Tsai H. Hong, Elena R. Messina, Bob Bollinger, Paul Evans, Joyce Guthrie, Eric Hershberger, Carlos Martinez, Karen McNamara, James Wells
The special session on Technology Readiness Levels (TRLs) for Randomized Bin Picking was held during the morning session of the 2012 Performance Metrics for Intelligent Systems (PerMIS) workshop, 21 March, 2012. The stated objective of the special session

Workshop Report: Test Methods and Metrics for Effective HRI in Real-World Human-Robot Teams, ACM/IEEE Human-Robot Interaction Conference, 2020 (Virtual)

February 8, 2021
Author(s)
Shelly Bagchi, Jeremy Marvel, Megan L. Zimmerman, Murat Aksu, Brian Antonishek
This report details the second annual, full-day workshop exploring the metrology necessary for repeatably and independently assessing the performance of robotic systems in real-world human-robot interaction (HRI) scenarios. This workshop continues the

Workshop Report: Test Methods and Metrics for Effective HRI in Collaborative Human-Robot Teams, ACM/IEEE Human-Robot Interaction Conference, 2019

December 28, 2020
Author(s)
Shelly Bagchi, Murat Aksu, Megan L. Zimmerman, Jeremy Marvel, Brian Antonishek
Verified and validated test methods, being necessary to measure the performance of complex systems, are important tools for driving innovation, benchmarking and improving performance, and establishing trust in collaborative human-robot teams. This full-day

Runtime Verification of the ARIAC Competition: Can a Robot be Agile and Safe at the Same Time?

November 27, 2020
Author(s)
Angelo Ferrando, Zeid Kootbally, Pavlo Piliptchak, Rafael Cardoso, Craig I. Schlenoff, Michael Fisher
ARIAC (Agile Robotics for Industrial Automation Competition) is a robotic competition which aims to advance robotic agility in industry. Participants in this competition are required to implement a robot control system to overcome agility challenges in a

Formalizing Performance Evaluation of Mobile Manipulator Robots using CTML

November 20, 2020
Author(s)
Omar Aboul-Enein, Yaping Jing, Roger V. Bostelman
Computation Tree Measurement Language (CTML) is a newly developed formal language that offers simultaneous model verification and performance evaluation measures. While the theory behind CTML has been established, the language has yet to be tested on a

Reliable, High-Performance Wireless Systems for Factory Automation

September 18, 2020
Author(s)
Kang B. Lee, Richard Candell, Hans-Peter Bernhard, Dave Cavalcanti, Zhibo Pang, Inaki Val
Wireless has emerged as an enabling technology to improve operational flexibility and efficiency for factory automation. The latest wireless technology, standardization activities, and research issues were explored and discussed through the examination of

Continued Growth of IEEE RAS Standards Efforts

September 10, 2020
Author(s)
Craig I. Schlenoff
This has been a very eventful quarter for standardization efforts within the IEEE Robotics and Automation Society (RAS). Even the virtual nature of the 2020 International Conference on Robotics and Automation (ICRA) could not slow down the momentum of the

Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications

August 11, 2020
Author(s)
Roger V. Bostelman, YaShian Li-Baboud, Soocheol Yoon, Mili Shah, Omar Y. Aboul-Enein
Advanced mobile manipulators offer the manufacturing industry the potential of a highly flexible system to perform precision assembly tasks where the environment and the system are subject to uncertainties. Developing precision performance measurement

Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User

August 4, 2020
Author(s)
Roger V. Bostelman, YaShian Li-Baboud, Karl Van Wyk, Mili Shah
Exoskeletons are now being marketed by several manufacturers and yet there are currently no defined methods to measure the exoskeleton fit to the user. Proper exoskeleton fit to user impacts the safety of the human robot interaction. In this paper, we

Status of IEEE RAS Standardization Efforts

June 10, 2020
Author(s)
Craig I. Schlenoff
The IEEE Robotics and Automation Society's (RAS) standards study and working groups are strong and growing stronger. As of the time of this publication, we have two published standards, six working groups actively developing future standards, and one study

Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-effectors

April 1, 2020
Author(s)
Joseph A. Falco, Daniel Hemphill, Kenneth E. Kimble, Elena R. Messina, Adam Norton, Rafael F. Ropelato, Holly A. Yanco
This paper describes a set of metrics and supporting benchmarking protocols for determining the performance characteristics of robot end-effectors. In the short-term, these tools are proving useful as a common ground for assessing and comparing end

Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems

April 1, 2020
Author(s)
Kenneth Kimble, Joseph Falco, Elena R. Messina, Karl Van Wyk , Yu Sun, Mizuho Shibata, Wataru Uemura, Yasuyoshi Yokokohji
This paper presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertions and

Your Mileage May Vary

October 30, 2019
Author(s)
Elena R. Messina
Requiring and rethinking reproducibility will foster faster progress in robotics.

Efficiently Improving and Quantifying Robot Accuracy In Situ

August 20, 2019
Author(s)
Karl Van Wyk, Joseph Falco, Geraldine Cheok
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good mechanical

Reducing Localization Error of Vision-Guided Industrial Robots

June 18, 2019
Author(s)
Marek Franaszek, Geraldine S. Cheok, Jeremy A. Marvel
In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation is critical. In this paper, a method for reducing robot end-effector position and orientation error is

Towards Standard Exoskeleton Test Methods for Load Handling

May 9, 2019
Author(s)
Roger V. Bostelman, Ya-Shian Li-Baboud, Ann Virts, Soocheol Yoon, Mili Shah
Exoskeletons are now being marketed by several manufacturers and yet there are currently no standard test methods to compare exoskeletons to task. The National Institute of Standards and Technology (NIST) has been a key contributor to the formation of a

ASTM F48 Formation and Standards for Industrial Exoskeletons and Exosuits

March 19, 2019
Author(s)
William G. Billotte, Brian D. Lowe, Donald R. Peterson
Established in the fall of 2017, ASTM F48 is a technical committee that is addressing the need for standards related to wearable devices that augment, enable, assist, or enhance motion, posture, or physical activity – commonly referred to as “exoskeletons”

A-UGV Capabilities - Recommended Guide to Autonomy Levels

February 26, 2019
Author(s)
Roger V. Bostelman, Elena R. Messina
A-UGV has been defined by ASTM Committee F45 as an "Automatic, Automated, or Autonomous vehicle that operates while in contact with the ground without a human operator." However, what do the levels actually mean to manufacturers, users, or especially

Improving Rigid-Body Registration Based on Points Affected by Bias and Noise

December 31, 2018
Author(s)
Marek Franaszek, Geraldine S. Cheok
The task of registering two coordinate frames is frequently accomplished by measuring the same set of points in both frames. Noise and possible bias in the measured locations degrade the quality of registration. It was shown that the performance of

Empowering Robotics in Manufacturing Through Metrology

December 3, 2018
Author(s)
Jeremy A. Marvel, Elena R. Messina
This paper discusses the challenges and opportunities surrounding robotics, as faced by the manufacturing industry. The means by which metrology can address these challenges and opportunities are also discussed. Details are given regarding NIST's Robotic
Displaying 26 - 50 of 317