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|Title:||Cartman: the low-cost Cartesian manipulator that won the Amazon Robotics Challenge|
|Citation:||2018 IEEE International Conference on Robotics and Automation (ICRA), 2018 / vol.abs/1709.06283, pp.7757-7764|
|Series/Report no.:||IEEE International Conference on Robotics and Automation ICRA|
|Conference Name:||IEEE International Conference on Robotics and Automation (ICRA) (21 May 2018 - 25 May 2018 : Brisbane, Australia)|
|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. Reid, P. Corke, and J. Leitner|
|Abstract:||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.|
|Rights:||© 2018 IEEE|
|Appears in Collections:||Computer Science publications|
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