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Team KTH's Picking Solution for the Amazon Picking Challenge 2016

Almeida, Diogo ; Ambrus, Rares ; Caccamo, Sergio ; Chen, Xi ; Cruciani, Silvia ; Carvalho, João F. Pinto B. De ; Haustein, Joshua A. ; Marzinotto, Alejandro ; B., Francisco E. Viña and Karayiannidis, Yiannis LU orcid , et al. (2020) p.53-62
Abstract
In this chapter we summarize the solution developed by team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition, which simulated a warehouse automation scenario, was divided into two parts: a picking task, where the robot picks items from a shelf and places them into a tote, and a stowing task, where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting with a high-level overview of the system, delving later into the details of our perception pipeline and strategy for manipulation and grasping. The hardware platform used in our solution consists of a Baxter robot equipped with multiple vision sensors.
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publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Advances on Robotic Item Picking: Applications in Warehousing E-Commerce Fulfillment
editor
Causo, Albert ; Durham, Joseph ; Hauser, Kris ; Okada, Kei and Rodriguez, Alberto
pages
10 pages
publisher
Springer International Publishing
external identifiers
  • scopus:85149564601
ISBN
978-3-030-35679-8
DOI
10.1007/978-3-030-35679-8_5
language
Unknown
LU publication?
no
id
c38ef532-1bbf-454d-866c-05c76804a08a
alternative location
https://doi.org/10.1007/978-3-030-35679-8_5
date added to LUP
2022-12-28 10:44:20
date last changed
2024-01-04 23:47:27
@inbook{c38ef532-1bbf-454d-866c-05c76804a08a,
  abstract     = {{In this chapter we summarize the solution developed by team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition, which simulated a warehouse automation scenario, was divided into two parts: a picking task, where the robot picks items from a shelf and places them into a tote, and a stowing task, where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting with a high-level overview of the system, delving later into the details of our perception pipeline and strategy for manipulation and grasping. The hardware platform used in our solution consists of a Baxter robot equipped with multiple vision sensors.}},
  author       = {{Almeida, Diogo and Ambrus, Rares and Caccamo, Sergio and Chen, Xi and Cruciani, Silvia and Carvalho, João F. Pinto B. De and Haustein, Joshua A. and Marzinotto, Alejandro and B., Francisco E. Viña and Karayiannidis, Yiannis and Ögren, Petter and Jensfelt, Patric and Kragic, Danica}},
  booktitle    = {{Advances on Robotic Item Picking: Applications in Warehousing  E-Commerce Fulfillment}},
  editor       = {{Causo, Albert and Durham, Joseph and Hauser, Kris and Okada, Kei and Rodriguez, Alberto}},
  isbn         = {{978-3-030-35679-8}},
  language     = {{und}},
  pages        = {{53--62}},
  publisher    = {{Springer International Publishing}},
  title        = {{Team KTH's Picking Solution for the Amazon Picking Challenge 2016}},
  url          = {{http://dx.doi.org/10.1007/978-3-030-35679-8_5}},
  doi          = {{10.1007/978-3-030-35679-8_5}},
  year         = {{2020}},
}