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, A. Gurman, T. Hunn, D. Lee, A. Milan, T. Pham, G. Rallos, A. Razjigaev, T. Rowntree, K. Vijay, Z. Zhuang, C. Lehnert, I. ReidP. Corke, J. Leitner

Research output: Chapter in Book/Report/Conference proceedingConference PaperOtherpeer-review

90 Citations (Scopus)


Ahstract-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.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA 2018)
EditorsPeter Corke, Nancy M Amato, Megan Emmons, Yoshihiko Nakamura, Markus Vincze
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781538630815, 9781538630808
ISBN (Print)9781538630822
Publication statusPublished - 2018
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2018 - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21 May 201825 May 2018 (Website) (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers, Inc.
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X


ConferenceIEEE International Conference on Robotics and Automation 2018
Abbreviated titleICRA 2018
Internet address

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