本文件描述了指定和评估服务机器人操纵性能的方法，尤其是: -把握大小；-掌握力量；-抓握防滑；-打开铰链门；和-打开滑动门。 服务机器人的操作还有其他抓取特征和用例。预计这些将被纳入未来的修订版本中。 本文件仅涉及室内环境。然而，所描述的测试也适用于在户外环境中工作的机器人。购买本文件时可获得的所有当前修订均包含在购买本文件中。

This document describes methods of specifying and evaluating the manipulation performance of service robots, notably: — grasp size;— grasp strength;— grasp slip resistance;— opening a hinged door; and— opening a sliding door. There are other grasping characteristics and use cases for manipulation of service robots. It is expected that these will be included in a future revision. This document deals with the indoor environment only. However, the depicted tests can also be applicable for robots operating in outdoor environments.All current amendments available at time of purchase are included with the purchase of this document.