Team Delft's Robot Winner of the Amazon Picking Challenge 2016
نویسندگان
چکیده
This paper describes Team Delft’s robot, which won the Amazon Picking Challenge 2016, including both the Picking and the Stowing competitions. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. Team Delft’s robot is based on an industrial robot arm, 3D cameras and a customized gripper. The robot’s software uses ROS to integrate off-the-shelf components and modules developed specifically for the competition, implementing Deep Learning and other AI techniques for object recognition and pose estimation, grasp planning and motion planning. This paper describes the main components in the system, and discusses its performance and results at the Amazon Picking Challenge 2016 finals.
منابع مشابه
A Summary of Team MIT's Approach to the Amazon Picking Challenge 2015
The Amazon Picking Challenge (APC) [1], held alongside the International Conference on Robotics and Automation in May 2015 in Seattle, challenged roboticists from academia and industry to demonstrate fully automated solutions to the problem of picking objects from shelves in a warehouse fulfillment scenario. Packing density, object variability, speed, and reliability are the main complexities o...
متن کاملTeam Applied Robotics: A closer look at our robotic picking system
This paper describes the vision based robotic picking system that was developed by our team, Team Applied Robotics, for the Amazon Picking Challenge 2016. This competition challenged teams to develop a robotic system that is able to pick a large variety of products from a shelve or a tote. We discuss the design considerations and our strategy, the high resolution 3D vision system, the use of a ...
متن کاملDesign and Development of an automated Robotic Pick & Stow System for an e-Commerce Warehouse
In this paper, we provide details of a robotic system that can automate the task of picking and stowing objects from and to a rack in an e-commerce fulfillment warehouse. The system primarily comprises of four main modules: (1) Perception module responsible for recognizing query objects and localizing them in the 3-dimensional robot workspace; (2) Planning module generates necessary paths that ...
متن کاملLessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems
We describe the winning entry to the Amazon Picking Challenge. From the experience of building this system and competing in the Amazon Picking Challenge, we derive several conclusions: 1) We suggest to characterize robotic system building along four key aspects, each of them spanning a spectrum of solutions—modularity vs. integration, generality vs. assumptions, computation vs. embodiment, and ...
متن کاملData-efficient Deep Learning for RGB-D Object Perception in Cluttered Bin Picking
Deep learning methods often require large annotated data sets to estimate their high numbers of parameters, which is not practical for many robotic domains. One way to migitate this issue is to transfer features learned on large datasets to related tasks. In this work, we describe the perception system developed for the entry of team NimbRo Picking into the Amazon Picking Challenge 2016. Object...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2016