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Erschienen in:
2020 | OriginalPaper | Buchkapitel
Team UAlberta: Amazon Picking Challenge Lessons
verfasst von : Camilo Perez Quintero, Oscar Ramirez, Andy Hess, Rong Feng, Masood Dehghan, Hong Zhang, Martin Jagersand
Erschienen in: Advances on Robotic Item Picking
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Abstract
Our team participated in the 2015 picking challenge with a 7DOF Barrett WAM arm and hand. Our robot was placed on a fixed base and had difficulty reaching and grasping objects deep inside the shelve bins. Given limited resources we come up with a simple design, a custom-made mechanism to bring objects to the edge of the shelve bins. During trials we explored both image-based visual servoing and Kinect RGB-D vision. The former, while precise, relied on fragile video tracking. The final system used open-loop RGB-D vision and readily available open-source tools. In this chapter we log our strategy and the lessons we have learned.