Cartman: The low-cost Cartesian Manipulator that won the Amazon Robotics Challenge

International Conference on Robotics and Automation (ICRA) 2018 · 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., Reid I., Corke P., Leitner J. ·

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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