open benchmark · companion to IGC 2027
Milkbench
Can a humanoid hand milk?
Robots attach teat cups. Milkbench asks whether a humanoid hand can milk by itself, and scores the answer in minutes per litre.
The two parameters the paper sweeps. Servo travel 1.05 rad.
thumb and index occlude the base
- index
- middle
- ring
- thumb
drag to orbit · 0 cycles run in your browser
01 · the board
Minutes per litre. One number, one entry.
| # | Entry | Paper | Video | Code | min / L |
|---|---|---|---|---|---|
| 1 | Milkbench | soon | soon | soon | pending |
No measurement exists yet, so the entry carries no number. Hardware results land in December 2026.
Paper, video and code are each a link waiting for its target. An entry without all three stays unranked.
02 · how to enter
The board is open.
Any hand qualifies. Run the protocol, record it, send four things. Ranked by minutes per litre and nothing else.
- 01Fixed pose. Held against a compliant artificial teat on a reservoir. No approach, no teat search.
- 02Open loop. One scripted trajectory, swept over frequency and closure.
- 03Four numbers. Volume per cycle, flow, cycle success rate, peak servo load.
- 04Paper, video, code. All three, or the run stays unranked.
Milkbench is a benchmark under construction by Prof. Dr.-Ing. Mark Schutera, companion to an abstract submitted to the XXVI International Grassland Congress, Leipzig 2027 · no hardware results exist yet · the hand on this page is the real model, 34 bodies and 20 loop closures on 8 actuators, stepped live by MuJoCo compiled to WebAssembly · nothing else is simulated · hand geometry from Amazing Hand (Pollen Robotics)