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Cartman: The low-cost Cartesian Manipulator that won the Amazon Robotics Challenge

Morrison, D ; Tow, A W ; McTaggart, M ; Smith, R ; Kelly-Boxall, N ; Wade-McCue, S ; Erskine, J ; Grinover, R ; Gurman, A ; Hunn, T ; Lee, D ; Milan, A ; Pham, T ; Rallos, G ; Razjigaev, A ; Rowntree, T ; Vijay, K ; Zhuang, Z ; Lehnert, C ; Reid, I ; Corke, P ; Leitner, J

arXiv.org, 2018-02

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Título:
Cartman: The low-cost Cartesian Manipulator that won the Amazon Robotics Challenge
Autor: Morrison, D ; Tow, A W ; McTaggart, M ; Smith, R ; Kelly-Boxall, N ; Wade-McCue, S ; Erskine, J ; Grinover, R ; Gurman, A ; Hunn, T ; Lee, D ; Milan, A ; Pham, T ; Rallos, G ; Razjigaev, A ; Rowntree, T ; Vijay, K ; Zhuang, Z ; Lehnert, C ; Reid, I ; Corke, P ; Leitner, J
Assuntos: Computer Science - Robotics ; Construction costs ; Robot arms ; Robotics ; System effectiveness
É parte de: arXiv.org, 2018-02
Descrição: The Amazon Robotics Challenge enlisted sixteen teams to each design a pick-and-place robot for autonomous warehousing, addressing development in robotic vision and manipulation. This paper presents the design of our custom-built, cost-effective, Cartesian robot system Cartman, which won first place in the competition finals by stowing 14 (out of 16) and picking all 9 items in 27 minutes, scoring a total of 272 points. We highlight our experience-centred design methodology and key aspects of our system that contributed to our competitiveness. We believe these aspects are crucial to building robust and effective robotic systems.
Editor: Ithaca: Cornell University Library, arXiv.org
Idioma: Inglês

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