Designing Cartman: a cartesian manipulator for the Amazon Robotics Challenge 2017

Jürgen Leitner; Douglas Morrison; Anton Milan; Norton Kelly-Boxall; Matthew McTaggart; Adam W Tow; Peter Corke

doi:10.1007/978-3-030-35679-8_11

Designing Cartman: a cartesian manipulator for the Amazon Robotics Challenge 2017

Jürgen Leitner
, Douglas Morrison
, Anton Milan
, Norton Kelly-Boxall
, Matthew McTaggart
, Adam W Tow
, Peter Corke

Research output: Chapter in Book/Report/Conference proceeding › Chapter (Book) › Other › peer-review

Abstract

The Amazon Robotics Challenge enlisted sixteen teams to each design a pick-and-place robot for autonomous warehousing of everyday household items. Herein we present the design of our custom-built, Cartesian robot Cartman, which won the first place in the competition finals. We highlight our integrated, experience-centred design methodology and the key aspects of our system that contributed to our competitiveness.

Original language	English
Title of host publication	Advances on Robotic Item Picking
Subtitle of host publication	Applications in Warehousing and E-Commerce Fulfillment
Editors	Albert Causo, Joseph Durham, Kris Hauser, Kei Okada, Alberto Rodriguez
Place of Publication	Cham Switzerland
Publisher	Springer
Pages	125-148
Number of pages	24
ISBN (Electronic)	9783030356798
ISBN (Print)	9783030356781
DOIs	https://doi.org/10.1007/978-3-030-35679-8_11
Publication status	Published - 2020
Externally published	Yes

Keywords

Cartesian robot
Dual-ended end-effector
Error detection and recovery
Parallel gripper
RefineNet
RGBD sensor
Semantic segmentation
Suction gripper

Access to Document

10.1007/978-3-030-35679-8_11

Cite this

Leitner, J., Morrison, D., Milan, A., Kelly-Boxall, N., McTaggart, M., Tow, A. W., & Corke, P. (2020). Designing Cartman: a cartesian manipulator for the Amazon Robotics Challenge 2017. In A. Causo, J. Durham, K. Hauser, K. Okada, & A. Rodriguez (Eds.), Advances on Robotic Item Picking: Applications in Warehousing and E-Commerce Fulfillment (pp. 125-148). Springer. https://doi.org/10.1007/978-3-030-35679-8_11

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abstract = "The Amazon Robotics Challenge enlisted sixteen teams to each design a pick-and-place robot for autonomous warehousing of everyday household items. Herein we present the design of our custom-built, Cartesian robot Cartman, which won the first place in the competition finals. We highlight our integrated, experience-centred design methodology and the key aspects of our system that contributed to our competitiveness.",

keywords = "Cartesian robot, Dual-ended end-effector, Error detection and recovery, Parallel gripper, RefineNet, RGBD sensor, Semantic segmentation, Suction gripper",

author = "J{\"u}rgen Leitner and Douglas Morrison and Anton Milan and Norton Kelly-Boxall and Matthew McTaggart and Tow, \{Adam W\} and Peter Corke",

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doi = "10.1007/978-3-030-35679-8\_11",

language = "English",

isbn = "9783030356781",

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Leitner, J, Morrison, D, Milan, A, Kelly-Boxall, N, McTaggart, M, Tow, AW & Corke, P 2020, Designing Cartman: a cartesian manipulator for the Amazon Robotics Challenge 2017. in A Causo, J Durham, K Hauser, K Okada & A Rodriguez (eds), Advances on Robotic Item Picking: Applications in Warehousing and E-Commerce Fulfillment. Springer, Cham Switzerland, pp. 125-148. https://doi.org/10.1007/978-3-030-35679-8_11

Designing Cartman: a cartesian manipulator for the Amazon Robotics Challenge 2017. / Leitner, Jürgen; Morrison, Douglas; Milan, Anton et al.
Advances on Robotic Item Picking: Applications in Warehousing and E-Commerce Fulfillment. ed. / Albert Causo; Joseph Durham; Kris Hauser; Kei Okada; Alberto Rodriguez. Cham Switzerland: Springer, 2020. p. 125-148.

Research output: Chapter in Book/Report/Conference proceeding › Chapter (Book) › Other › peer-review

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T2 - a cartesian manipulator for the Amazon Robotics Challenge 2017

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AU - Morrison, Douglas

AU - Milan, Anton

AU - Kelly-Boxall, Norton

AU - McTaggart, Matthew

AU - Tow, Adam W

AU - Corke, Peter

N1 - Publisher Copyright: © Springer Nature Switzerland AG 2020.

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AB - The Amazon Robotics Challenge enlisted sixteen teams to each design a pick-and-place robot for autonomous warehousing of everyday household items. Herein we present the design of our custom-built, Cartesian robot Cartman, which won the first place in the competition finals. We highlight our integrated, experience-centred design methodology and the key aspects of our system that contributed to our competitiveness.

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KW - Dual-ended end-effector

KW - Error detection and recovery

KW - Parallel gripper

KW - RefineNet

KW - RGBD sensor

KW - Semantic segmentation

KW - Suction gripper

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BT - Advances on Robotic Item Picking

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PB - Springer

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ER -

Leitner J, Morrison D, Milan A, Kelly-Boxall N, McTaggart M, Tow AW et al. Designing Cartman: a cartesian manipulator for the Amazon Robotics Challenge 2017. In Causo A, Durham J, Hauser K, Okada K, Rodriguez A, editors, Advances on Robotic Item Picking: Applications in Warehousing and E-Commerce Fulfillment. Cham Switzerland: Springer. 2020. p. 125-148 doi: 10.1007/978-3-030-35679-8_11

Designing Cartman: a cartesian manipulator for the Amazon Robotics Challenge 2017

Abstract

Keywords

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