Aggregated Standards List

This page holds an aggregated list of robotics standards. Its purpose is to provide a central repository for links and information about existing standards and standards that are currently under development or planned for development. To suggest a gap that should have a standard or to let us know about a missing standard, please contact us.

[E] marks standards that have been completed and released, [UD] marks standards that are under development, and [P] marks standards that are planned. Gaps where no standard is planned are tracked here.

The List

Safety Standards

ISO - Robotics

• ISO/TC 299, Focus on standardization in the field of robotics, excluding toys and military applications Keywords:
  • [E] ISO 10218-1:2011, Robots and robotic devices -- Safety requirements for industrial robots -- Part 1: Robots ISO 10218-1:2011 specifies requirements and guidelines for the inherent safe design, protective measures and information for use of industrial robots. It describes basic hazards associated with robots and provides requirements to eliminate, or adequately reduce, the risks associated with these hazards. It does not apply to noise hazards or non-industrial robots. Keywords:
    • [UD] ISO/WD 10218-1, Robots and robotic devices -- Safety requirements for industrial robots -- Part 1: Robots, Third edition, Keywords:
  • [E] ISO 10218-2:2011, Robots and robotic devices -- Safety requirements for industrial robots -- Part 2: Robot systems and integration ISO 10218-2:2011 specifies safety requirements for the integration of industrial robots and industrial robot systems as defined in ISO 10218-1, and industrial robot cell(s). Keywords:
    • [UD] ISO/WD 10218-2, Robots and robotic devices -- Safety requirements for industrial robots -- Part 2: Robot systems and integration, Second edition, Keywords:
  • [E] ISO 13482:2014, Robots and robotic devices -- Safety requirements for personal care robots ISO 13482:2014 specifies requirements and guidelines for the inherently safe design, protective measures, and information for use of personal care robots. Keywords:
    • [UD] ISO/CD TR 23482-1, Robotics -- Application of ISO 13482 -- Part 1: Safety-related test methods, Keywords: ICS - 25.040.30, Industrial robots, Manipulators
    • [UD] ISO/CD TR 23482-2, Robotics -- Application of ISO 13482 -- Part 2: Application guide, Keywords: ICS - 25.040.30, Industrial robots, Manipulators
  • [E] ISO/TS 15066:2016, Robots and robotic devices -- Collaborative robots, ISO/TS 15066:2016 specifies safety requirements for collaborative industrial robot systems and the work environment, and supplements the requirements and guidance on collaborative industrial robot operation given in ISO 10218‑1 and ISO 10218‑2, Keywords: ICS - 25.040.30, Industrial robots, Manipulators
  • [UD] ISO/DTR 20218-1, Robots and robotic devices -- Safety requirements for industrial robots -- Part 1: Industrial robot system end of arm tooling (end-effector), Keywords: ICS - 25.040.30, Industrial robots, Manipulators
  • [UD] ISO/PRF TR 20218-2, Robots and robotic devices -- Safety requirements for industrial robots -- Part 2: Industrial robot system manual load stations, Keywords: ICS - 25.040.30, Industrial robots, Manipulators
  • [UD] IEC/DIS 80601-2-77, Medical electrical equipment -- Part 2-77: Particular requirements for the basic safety and essential performance of medical robots for surgery, Keywords: ICS - 11.040.01, Medical equipment in general
  • [UD] IEC/DIS 80601-2-78, Medical electrical equipment -- Part 2-78: Particular requirements for the basic safety and essential performance of medical robots for rehabilitation, compensation or alleviation of disease, injury or disability , Keywords: ICS - 11.040.01, Medical equipment in general

ANSI/ITSDF - Robotics

• [E] ANSI/ITSDF B56.5 - 2012, Safety Standard for Driverless, Automatic Guided Industrial Vehicles and Automated Functions of Manned Industrial Vehicles EFFECTIVE 03/01/13, This Standard defines the safety requirements relating to the elements of design, operation, and maintenance of powered, not mechanically restrained, unmanned automatic guided industrial vehicles and the system of which the vehicles are a part. It also applies to vehicles originally designed to operate exclusively in a manned mode but which are subsequently modified to operate in an unmanned, automatic mode, or in a semiautomatic, manual, or maintenance mode.

ANSI/RIA - Robot Safety

• [E] ANSI R15.06-2012 Industrial Robots and Robot Systems - Safety Requirements
• [UD] ANSI R15.08-TBD Industrial Mobile Robot Safety
• [UD] Standard for End-of- Arm Tooling

Performance Standards

ISO - Robotics

• ISO/TC 299, Focus on standardization in the field of robotics, excluding toys and military applications Keywords:
  • [E] ISO 9283:1998, Manipulating industrial robots -- Performance criteria and related test methods, reviewed in 2015, Keywords:
  • [E] ISO/TR 13309:1995, Manipulating industrial robots -- Informative guide on test equipment and metrology methods of operation for robot performance evaluation in accordance with ISO 9283 Supplies information on the state-of-the-art of test equipment operating principles. Additional information is provided that describes the applications of current test equipment technology to ISO 9283, Keywords:
  • [E] ISO 18646-1:2016, Robotics -- Performance criteria and related test methods for service robots -- Part 1: Locomotion for wheeled robots ISO 18646-1:2016 describes methods for specifying and evaluating the locomotion performance of wheeled robots in indoor environments, Keywords:
  • [UD] ISO/CD 18646-2, Robotics -- Performance criteria and related test methods for service robots -- Part 2: Navigation, Keywords: Industrial robots, manipulators

ASTM - Exoskeletons and Exosuits

• ASTM F48, Exoskeletons and Exosuits WKxxxxx – Standard Terminology for Exoskeletons and Exosuits Keywords:

ASTM - Driverless Cars

• ASTM F45, Driverless Automatic Guided Industrial Vehicles Focused on the development of standardized nomenclature and definitions of terms, recommended practices, guides, test methods, specifications, and performance standards for driverless automatic guided industrial vehicles. Keywords:
  • [E] ASTM 3200 - 16 Standard Terminology for Driverless Automatic Guided Industrial Vehicles
  • [E] ASTM F3218-17 Standard Practice For Recording Environmental Effects for Utilization with A-UGV Test Methods
  • [E] ASTM F3244-17 Standard Test Method For Navigation: Defined Area
  • [E] ASTM F3265-17 Test Method for Grid-Video Obstacle Measurement
  • [UD] ASTM F45.01 The scope of the Subcommittee is the development of a set of practices and test methods that identify, render, and characterize the environment of the A-UGV during operation. Keywords:
  • [UD] ASTM F45.02 The scope of the Subcommittee is the development of a set of practices and test methods that evaluates the navigation and docking performance of the A-UGV. Keywords:
    • WK57000 Standard Test Method for Docking Driverless Automatic Guided Industrial Vehicles
    • WK56524 Navigation: Defined Space
    • WK54431 - Standard Practice for Communication and Integration Interruptions for A-UGVs
    • WK54662 - Standard practice for capturing A-UGV positions using Grid-Video techniques
    • WK60390 - Standard practice for implementing representative obstacles for utilizationwith A-UGV test methods
    • WK56744 - Practice for Recording the A-UGV Configuration
  • [UD] ASTM F45.03 The scope of the Subcommittee is the development of a set of practices and test methods that evaluates the performance of the A-UGV when presented with obstacles. Keywords:
  • [UD] ASTM F45.04 The scope of the Subcommittee is the development of a set of practices and test methods that evaluates the performance of the A-UGV, and its control interactions with other automated systems, under varied communications conditions. Keywords:
  • [UD] ASTM F45.91 The scope of the Subcommittee is the development of terminology commonly used for A-UGV performance testing. Keywords:

ASTM - Unmanned Systems

• ASTM E54.09 Homeland Security Applications, Robots
  • [E] E2521-16 Standard Terminology for Evaluating Response Robot Capabilities
  • [E] E2566-17 Standard Test Method for Determining Visual Acuity and Field of View of On-Board Video Systems for Teleoperation of Robots for Urban Search and Rescue Applications
    • See also WK59662 proposed revision
  • [E] E2592-16 Standard Practice for Evaluating Response Robot Capabilities: Logistics: Packaging for Urban Search and Rescue Task Force Equipment Caches
  • [E] E2801-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Gaps
  • [E] E2802-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Hurdles
  • [E] E2803-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Inclined Planes
  • [E] E2804-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Obstacles: Stairs/Landings
  • [E] E2826-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Terrains: Continuous Pitch/Roll Ramps
  • [E] E2827-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Terrains: Crossing Pitch/Roll Ramps
  • [E] E2828-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Confined Area Terrains: Symmetric Stepfields
  • [E] E2829-11 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Mobility: Maneuvering Tasks: Sustained Speed
  • [E] E2830-11 Standard Test Method for Evaluating the Mobility Capabilities of Emergency Response Robots Using Towing Tasks: Grasped Sleds
  • [E] E2853-12 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Human-System Interaction (HSI): Search Tasks: Random Mazes with Complex Terrain
  • [E] E2854-12 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Line-of- Sight Range
  • [E] E2855-12 Standard Test Method for Evaluating Emergency Response Robot Capabilities: Radio Communication: Non-Line- of-Sight Range
  • [E] E2992/E2992M-17 Standard Test Method for Evaluating Response Robot Mobility: Traverse Sand Terrain
  • [UD] WK54273 Evaluating Ground Response Robot Dexterity: Rotate
  • [UD] WK54290 Evaluating Ground Response Robot Manipulation: Break Panel
  • [UD] WK27852
  • [UD] WK54291 Evaluating Ground Response Robot Maneuvering: Traverse Angled Curbs
  • [UD] WK53649 Evaluating Ground Response Robot Maneuvering: Align Edges
  • [UD] WK33260 Evaluating Ground Response Robot Maneuvering: Traverse Hallway Labyrinths with Complex Terrain
  • [UD] WK33261 Evaluating Ground Response Robot Sensing: Point and Zoom Cameras
  • [UD] WK35213 Evaluating Response Robot Mobility: Traverse Gravel Terrain
  • [UD] WK35214 Evaluating Ground Response Robot Mobility: Traverse Sand Terrain
  • [UD] WK44323 Evaluating Ground Response Robot Manipulation: Grasp, Lift, and Place In Surrounding Area
  • [UD] WK41553 Evaluating Ground Response Robot Mobility: Traverse Vertical Insertion/Retrieval Stack with Drops
  • [UD] WK42364 Evaluating Ground Response Robot Sensing: Visual Dynamic Range
  • [UD] WK54287 Evaluating Ground Response Robot Manipulation: Inspect Underbody
  • [UD] WK54289 Evaluating Ground Response Robot Manipulation: Inspect Interior of Constrained Space
  • [UD] WK54276 Evaluating Ground Response Robot Maneuvering: Grasp Load, Stow, and Traverse
  • [UD] WK54271 Evaluating Ground Response Robot Dexterity: Inspect
  • [UD] WK54278 Evaluating Ground Response Robot Capabilities: Manipulation: Cut Strap
  • [UD] WK54274 Evaluating Ground Response Robot Dexterity: Extract
  • [UD] WK54283 Evaluating Ground Response Robot Manipulation: Place Object
  • [UD] WK54272 Evaluating Ground Response Robot Manipulation: Touch or Aim
  • [UD] WK49478 Evaluating Ground Response Robot Sensing: Video Latency
  • [UD] WK57967 Evaluating Ground Response Robot Sensing: Thermal Image Acuity
  • [UD] WK54402 Evaluating Ground Response Robot Mobility: Traverse Pitch/Roll Rail Obstacles
  • [UD] WK54403 Evaluating Ground Response Robot Mobility: Traverse Mud
  • [UD] WK54755 Evaluating Ground Response Robot Sensing: Match Colors
  • [UD] WK55025 Evaluating Ground Response Robot Endurance
  • [UD] WK55681 Evaluating Ground Response Robot Logistics: System Configuration
  • [UD] WK58677 Evaluating Aerial Response Robot Sensing: Visual Image Acuity
  • [UD] WK58925 Evaluating Aerial Response Robot Sensing: Visual Color Acuity
  • [UD] WK58926 Evaluating Aerial Response Robot Sensing: Visual Dynamic Range
  • [UD] WK58927 Evaluating Aerial Response Robot Sensing: Audio Speech Acuity
  • [UD] WK58928 Evaluating Aerial Response Robot Sensing: Thermal Image Acuity
  • [UD] WK58929 Evaluating Aerial Response Robot Sensing: Thermal Dynamic Range
  • [UD] WK58930 Evaluating Aerial Response Robot Sensing: Latency of Video, Audio, and Control
  • [UD] WK58931 Evaluating Aerial Response Robot Maneuvering: Maintain Position and Orientation
  • [UD] WK58932 Evaluating Aerial Response Robot Maneuvering: Orbit a Point
  • [UD] WK58933 Evaluating Aerial Response Robot Maneuvering: Avoid Static Obstacles
  • [UD] WK58934 Evaluating Aerial Response Robot Maneuvering: Pass Through Openings
  • [UD] WK58935 Evaluating Aerial Response Robot Maneuvering: Land Accurately (Vertical)
  • [UD] WK58936 Evaluating Aerial Response Robot Situational Awareness: Identify Objects (Point and Zoom Cameras)
  • [UD] WK58937 Evaluating Aerial Response Robot Situational Awareness: Inspect Static Objects
  • [UD] WK58938 Evaluating Aerial Response Robot Situational Awareness: Map Wide Areas (Stitched Images)
  • [UD] WK58939 Evaluating Aerial Response Robot Energy/Power: Endurance Range and Duration
  • [UD] WK58940 Evaluating Aerial Response Robot Energy/Power: Endurance Dwell Time
  • [UD] WK58942 Evaluating Aerial Response Robot Radio Communication Range : Line of Sight
  • [UD] WK58941 Evaluating Aerial Response Robot Radio Communications Range: Non Line of Sight
  • [UD] WK58943 Evaluating Aerial Response Robot Safety: Lights and Sounds
  • [UD] WK60210 Evaluating Aerial Response Robot Situational Awareness: Inspect Wires

Interoperability and Interface Standards

IEEE - Ontologies

• [E] IEEE 1872-2015, IEEE Standard Ontologies for Robotics and Automation A core ontology that specifies the main, most general concepts, relations, and axioms of robotics and automation (R&A). It is intended as a reference for knowledge representation and reasoning in robots, as well as a formal reference vocabulary for communicating knowledge about R&A between robots and humans. Keywords: ontology, core, CORA, autonomous, automated, semi-autonomous, supervised, teleoperated, remote controlled, pose, robot, part
• [UD] IEEE 1872.1, IEEE Standard Task Ontology A cross-cutting ontology standard within the structure laid out in IEEE 1872-2015. It is intended as a reference for knowledge representation and reasoning in robots, with a focus on the representation of tasks. Keywords: ontology, CORA, task, capability, sequence
• [UD] IEEE 1872.2, IEEE Standard Ontology for Autonomous Robots A domain-specific ontology standard within the structure laid out in IEEE 1872-2015. It is intended as a reference for knowledge representation and reasoning in and about robots, with a focus on the representation of concepts relevant to autonomous systems. Keywords: ontology, CORA, autonomy, behavior
• [P] IEEE Standard Ontology for Medical Robots A domain-specific ontology standard within the structure laid out in IEEE 1872-2015. It is intended as a reference for knowledge representation and reasoning in and about robots, with a focus on the representation of concepts relevant to medical robots. Keywords: ontology, CORA
• [P] IEEE Standard Ontology for Industrial Robots A domain-specific ontology standard within the structure laid out in IEEE 1872-2015. It is intended as a reference for knowledge representation and reasoning in and about robots, with a focus on the representation of concepts relevant to industrial robots. Keywords: ontology, CORA

IEEE - Ethics

• [UD] IEEE P7000, Model Process for Addressing Ethical Concerns During System Design The standard establishes a process model by which engineers and technologists can address ethical consideration throughout the various stages of system initiation, analysis and design. Keywords: ethics, design, process
  • [UD] IEEE P7001 Transparency of Autonomous Systems. A Standard for developing autonomous technologies that can assess their own actions and help users understand why a technology makes certain decisions in different situations. The project also offers ways to provide transparency and accountability for a system to help guide and improve it, such as incorporating an event data recorder in a self-driving car or accessing data from a device’s sensors.
  • [UD] IEEE P7002 Data Privacy Process. This standard specifies how to manage privacy issues for systems or software that collect personal data. It will do so by defining requirements that cover corporate data collection policies and quality assurance. It also includes a use case and data model for organizations developing applications involving personal information. The standard will help designers by providing ways to identify and measure privacy controls in their systems utilizing privacy impact assessments.
  • [UD] IEEE P7003 Algorithmic Bias Considerations. This standard provides developers of algorithms for autonomous or intelligent systems with protocols to avoid negative bias in their code. Bias could include the use of subjective or incorrect interpretations of data like mistaking correlation with causation. The project offers specific steps to take for eliminating issues of negative bias in the creation of algorithms. The standard will also include benchmarking procedures and criteria for selecting validation data sets, establishing and communicating the application boundaries for which the algorithm has been designed, and guarding against unintended consequences.
  • [UD] IEEE P7006 Standard on Personal Data AI Agent Working Group addresses concerns raised about machines making decisions without human input. This standard hopes to educate government and industry on why it is best to put mechanisms into place to enable the design of systems that will mitigate the ethical concerns when AI systems can organize and share personal information on their own. Designed as a tool to allow any individual to essentially create their own personal “terms and conditions” for their data, the AI Agent will provide a technological tool for individuals to manage and control their identity in the digital and virtual world.
  • [UD] IEEE P7007 Ontological Standard for Ethically driven Robotics and Automation Systems establishes a set of ontologies with different abstraction levels that contain concepts, definitions and axioms that are necessary to establish ethically driven methodologies for the design of Robots and Automation Systems.
  • [P] IEEE P7008 Standard for Ethically Driven Nudging for Robotic, Intelligent and Autonomous Systems establishes a delineation of typical nudges (currently in use or that could be created) that contains concepts, functions and benefits necessary to establish and ensure ethically driven methodologies for the design of the robotic, intelligent and autonomous systems that incorporate them. "Nudges" as exhibited by robotic, intelligent or autonomous systems are defined as overt or hidden suggestions or manipulations designed to influence the behavior or emotions of a user.
  • [P] IEEE P7009 Standard for Fail-Safe Design of Autonomous and Semi-Autonomous Systems establishes a practical, technical baseline of specific methodologies and tools for the development, implementation, and use of effective fail-safe mechanisms in autonomous and semi-autonomous systems. The standard includes (but is not limited to): clear procedures for measuring, testing, and certifying a system's ability to fail safely on a scale from weak to strong, and instructions for improvement in the case of unsatisfactory performance. The standard serves as the basis for developers, as well as users and regulators, to design fail-safe mechanisms in a robust, transparent, and accountable manner.
  • [P] IEEE P7010 Wellbeing Metrics Standard for Ethical Artificial Intelligence and Autonomous Systems will establish wellbeing metrics relating to human factors directly affected by intelligent and autonomous systems and establish a baseline for the types of objective and subjective data these systems should analyze and include (in their programming and functioning) to proactively increase human wellbeing.

ISO - Robotics

• ISO/TC 299, Focus on standardization in the field of robotics, excluding toys and military applications Keywords:
  • [E] ISO 8373:2012, Robots and robotic devices -- Vocabulary ISO 8373:2012 defines terms used in relation with robots and robotic devices operating in both industrial and non-industrial environments. Keywords:
  • [E] ISO 9787:2013, Robots and robotic devices -- Coordinate systems and motion nomenclatures ISO 9787:2013 defines and specifies robot coordinate systems. It also provides nomenclature, including notations, for the basic robot motions. It is intended to aid in robot alignment, testing, and programming. Keywords:
  • [E] ISO 9409-1:2004, Manipulating industrial robots -- Mechanical interfaces -- Part 1: Plates, ISO 9409-1:2004 defines the main dimensions, designation and marking for a circular plate as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors, reviewed in 2015, Keywords:
  • [E] ISO 9409-2:2002, Manipulating industrial robots -- Mechanical interfaces -- Part 2: Shafts, ISO 9409-2:2002 defines the main dimensions, designation and marking for a shaft with cylindrical projection as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors, reviewed in 2014, Keywords:
  • [E] ISO 9946:1999, Manipulating industrial robots -- Presentation of characteristics, reviewed in 2015, Keywords:
  • [E] ISO 11593:1996, Manipulating industrial robots -- Automatic end effector exchange systems -- Vocabulary and presentation of characteristics, Defines terms relevant to automatic end effector exchange systems used for manipulating industrial robots. The terms are presented by their symbol, unit, definition and description. The definition includes references to existing standards, reviewed in 2011, Keywords:
  • [E] ISO 14539:2000, Manipulating industrial robots -- Object handling with grasp-type grippers -- Vocabulary and presentation of characteristics, reviewed in 2015, Keywords:
  • [E] ISO 19649:2017, Mobile robots -- Vocabulary, ISO 19649:2017 defines terms relating to mobile robots that travel on a solid surface and that operate in both industrial robot and service robot applications. It defines terms used for describing mobility, locomotion and other topics relating to the navigation of mobile robots. Keywords:
  • [E] IEC/TR 60601-4-1:2017, Medical electrical equipment -- Part 4-1: Guidance and interpretation -- Medical electrical equipment and medical electrical systems employing a degree of autonomy, IEC TR 60601-4-1:2017(E) is intended to help a manufacturer through the key decisions and steps to be taken to perform a detailed risk management and usability engineering processes for medical electrical equipment or a medical electrical system, hereafter referred to as MEE or MES, employing a degree of autonomy (DOA). Keywords:
  • [UD] ISO/AWI 22166-1, Robotics -- Part 1: Modularity for service robots -- Part 1: General requirements, Keywords:

IEEE - Perception and World Modeling

• [E] IEEE 1873-2015, IEEE Standard for Robot Map Data Representation for Navigation A map data representation of environments of a mobile robot performing a navigation task is specified in this standard. It provides data models and data formats for two-dimensional (2D) metric and topological maps. Keywords:
  • [UD] IEEE 1873.1, IEEE Standard for 3D Robot Map Data Representation for Navigation This standard builds on standard IEEE 1873-2015. It will provide data models and data formats for communication of three-dimensional (3D) metric and topological maps. Keywords:

ASTM - Measurement Systems

• ASTM E57.02 3D Imaging Systems - Test Methods
  • [E] ASTM 2919-14 Standard Test Method for Evaluating the Performance of Systems that Measure Static, Six Degrees of Freedom (6DOF), Pose
  • [E] ASTM E2938-15 Standard Test Method for Evaluating the Relative-Range Measurement Performance of 3D Imaging Systems in the Medium Range
  • [E] ASTM E3064-16 - Standard Test Method for Evaluating the Performance of Optical Tracking Systems that Measure Six Degrees of Freedom (6DOF) Pose
  • [UD] WK54684 - Standard Test Method for Measuring System Latency Performance of Optical Tracking Systems that Measure Six Degrees of Freedom (6DOF) Pose

SAE - Unmanned Systems

• SAE AS-4 Technical Committee on Unmanned Systems
  • AS-4JAUS Joint Architecture for Unmanned Systems
  • AS-4UCS Unmanned Systems Control Segment Architecture