TU/e Impact-Aware Robotics Database

Welcome to the Impact-Aware Robotics Database

We present a new database supporting the development of impact-aware robotics, an emerging field of research focused on enabling robots to exploit physical impacts with objects and environments to allow for dynamic manipulation and locomotion. This database allows getting access to data that can be used to answer various research questions related to, e.g., motion planning, parameter identification, and object tracking. The database can store a wide variety of datasets obtained from recordings of impact experiments. In these experiments, robots, objects, and environments are used in the context of physical impacts to perform various robotic tasks, such as object tossing with robotic arms to speed up throughput or drones impacting walls for inspection.


Citing the Impact-Aware Robotics Database

Please use the following citation when using the Impact-Aware Robotics Database:

@ARTICLE {2023_Jongeneel,
author = {M J Jongeneel and S Dingemans and A Saccon},
title = {The Impact-Aware Robotics Database: Supporting Research Targeting the Exploitation of Dynamic Contact Transitions},
journal = {Submitted to IEEE Robotics and Automation Letters (RA-L),
year = {2023},
url = {https://hal.science/hal-03900923},
month = {TBD}}

Publications associated to datasets

Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release


M.L.S. Lubbers, J. van Voorst, M.J. Jongeneel, and A. Saccon

Published in:

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

Used dataset:

Impact Aware Manipulation (I.AM.) archive containing suction cup release experiments

Refined Post-Impact Velocity Prediction for Torque-Controlled Flexible Joint Robots


C.A.R. Aria, W. Weekers, M. Morganti, V. Padois, and A. Saccon

Submitted to:

IEEE Robotics and Automation Letters (RA-L)

Used dataset:

I.AM. Archive containing impact experiments with a Franka Emika Panda robot

Experimental Validation of Nonsmooth Dynamics Simulations for Robotic Tossing involving Friction and Impacts


M.J. Jongeneel, L. Poort, N. van de Wouw, and A. Saccon

Submitted to:

IEEE Transactions on Robotics (T-RO)

Used dataset:

Data underlying the publication: Validating Rigid-Body Dynamics Simulators on Real-World Data for Robotic Tossing Applications