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

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arxiv 1709.06283 v2 pith:MGXS7Z6V submitted 2017-09-19 cs.RO

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

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

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