Team KTH’s Picking Solution for the Amazon Picking Challenge 2016

QC 20171009
In this work we summarize the solution developed by Team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition simulated a warehouse automation scenario and it was divided in two tasks: a picking task where a robot picks items from a shelf and places them in a tote and a stowing task which is the inverse task where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting from a high level overview of our system and later delving into details of our perception pipeline and our strategy for manipulation and grasping. The solution was implemented using a Baxter robot equipped with additional sensors.

Ambrus, RaresKTH,Datorseende och robotik, CVAP(Swepub:kth)u1dxo467 (author)
Caccamo, SergioKTH,Robotik, perception och lärande, RPL(Swepub:kth)u1zjc26l (author)
Chen, XiKTH,Robotik, perception och lärande, RPL(Swepub:kth)u14b1jgk (author)
Cruciani, Silvia,1991- (author)
Pinto Basto De Carvalho, Joao FKTH,Robotik, perception och lärande, RPL(Swepub:kth)u11bbkbx (author)
Haustein, JoshuaKTH,Robotik, perception och lärande, RPL(Swepub:kth)u1o8e56x (author)
Marzinotto, AlejandroKTH,Datorseende och robotik, CVAP(Swepub:kth)u17vioav (author)
Vina, Francisco,1990-KTH(Swepub:kth)u1lq282z (author)
Karayiannidis, Yiannis,1980-KTH,Robotik, perception och lärande, RPL(Swepub:kth)u1zl039f (author)
Ögren, Petter,1974-KTH,Optimeringslära och systemteori(Swepub:kth)u1izkr9z (author)
Jensfelt, Patric,1972-KTH,Robotik, perception och lärande, RPL(Swepub:kth)u1u66xzd (author)
Kragic, Danica,1971-KTH,Robotik, perception och lärande, RPL(Swepub:kth)u1ydsyln (author)
KTHRobotik, perception och lärande, RPL (creator_code:org_t)

By the author/editor: Almeida, Diogo, ...; Ambrus, Rares; Caccamo, Sergio; Chen, Xi; Cruciani, Silvia ...; Pinto Basto De C ...; show more...; Haustein, Joshua; Marzinotto, Alej ...; Vina, Francisco, ...; Karayiannidis, Y ...; Ögren, Petter, 1 ...; Jensfelt, Patric ...; Kragic, Danica, ...; show less...

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Robotics

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