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. Reid; P. Corke; J. Leitner

doi:10.1109/ICRA.2018.8463191

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 proceeding › Conference contribution › peer-review

92 Citations (Scopus)

Abstract

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 language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7757-7764
Number of pages	8
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8463191
Publication status	Published - 10 Sept 2018
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: 21 May 2018 → 25 May 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18

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10.1109/ICRA.2018.8463191

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Morrison, D., Tow, A. W., McTaggart, M., Smith, R., Kelly-Boxall, N., Wade-Mccue, S., Erskine, J., Grinover, R., Gurman, A., Hunn, T., Lee, D., Milan, A., Pham, T., Rallos, G., Razjigaev, A., Rowntree, T., Vijay, K., Zhuang, Z., Lehnert, C., ... Leitner, J. (2018). Cartman: The Low-Cost Cartesian Manipulator that Won the Amazon Robotics Challenge. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 7757-7764). Article 8463191 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8463191

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title = "Cartman: The Low-Cost Cartesian Manipulator that Won the Amazon Robotics Challenge",

abstract = "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.",

author = "D. Morrison and Tow, {A. W.} and M. McTaggart and R. Smith and N. Kelly-Boxall and S. Wade-Mccue and J. Erskine and R. Grinover and A. Gurman and T. Hunn and D. Lee and A. Milan and T. Pham and G. Rallos and A. Razjigaev and T. Rowntree and K. Vijay and Z. Zhuang and C. Lehnert and I. Reid and P. Corke and J. Leitner",

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year = "2018",

month = sep,

day = "10",

doi = "10.1109/ICRA.2018.8463191",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Morrison, D, Tow, AW, McTaggart, M, Smith, R, Kelly-Boxall, N, Wade-Mccue, S, Erskine, J, Grinover, R, Gurman, A, Hunn, T, Lee, D, Milan, A, Pham, T, Rallos, G, Razjigaev, A, Rowntree, T, Vijay, K, Zhuang, Z, Lehnert, C, Reid, I, Corke, P & Leitner, J 2018, Cartman: The Low-Cost Cartesian Manipulator that Won the Amazon Robotics Challenge. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8463191, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 7757-7764, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8463191

Cartman: The Low-Cost Cartesian Manipulator that Won the Amazon Robotics Challenge. / Morrison, D.; Tow, A. W.; McTaggart, M. et al.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 7757-7764 8463191 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wade-Mccue, S.

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AU - Grinover, R.

AU - Gurman, A.

AU - Hunn, T.

AU - Lee, D.

AU - Milan, A.

AU - Pham, T.

AU - Rallos, G.

AU - Razjigaev, A.

AU - Rowntree, T.

AU - Vijay, K.

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AU - Leitner, J.

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N2 - 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.

AB - 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.

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BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Morrison D, Tow AW, McTaggart M, Smith R, Kelly-Boxall N, Wade-Mccue S et al. Cartman: The Low-Cost Cartesian Manipulator that Won the Amazon Robotics Challenge. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 7757-7764. 8463191. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8463191

Cartman: The Low-Cost Cartesian Manipulator that Won the Amazon Robotics Challenge

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