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Erschienen in:
2020 | OriginalPaper | Buchkapitel
Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
verfasst von : Diogo Almeida, Rares Ambrus, Sergio Caccamo, Xi Chen, Silvia Cruciani, João F. Pinto B. De Carvalho, Joshua A. Haustein, Alejandro Marzinotto, Francisco E. Viña B., Yiannis Karayiannidis, Petter Ögren, Patric Jensfelt, Danica Kragic
Erschienen in: Advances on Robotic Item Picking
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Abstract
In this chapter we summarize the solution developed by team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition, which simulated a warehouse automation scenario, was divided into two parts: a picking task, where the robot picks items from a shelf and places them into a tote, and a stowing task, where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting with a high-level overview of the system, delving later into the details of our perception pipeline and strategy for manipulation and grasping. The hardware platform used in our solution consists of a Baxter robot equipped with multiple vision sensors.