Team Delft's Robot Winner of the Amazon Picking Challenge 2016

This paper describes Team Delft’s robot, which won the Amazon Picking Challenge 2016, including both the Picking and the Stowing competitions. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. Team Delft’s robot is based on an industrial robot arm, 3D cameras and a customized gripper. The robot’s software uses ROS to integrate off-the-shelf components and modules developed specifically for the competition, implementing Deep Learning and other AI techniques for object recognition and pose estimation, grasp planning and motion planning. This paper describes the main components in the system, and discusses its performance and results at the Amazon Picking Challenge 2016 finals.

• Publication year

  2016

• Venue

  Robot Soccer World Cup

• Publication date

  2016-06-30

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1007/978-3-319-68792-6_51arXiv 1610.05514
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Super4PCS: Fast Global Pointcloud Registration via Smart Indexing

  2019cited by this paper
• ROS Industrial

  2017cited by this paper
• Lessons from the Amazon Picking Challenge

  2016cited by this paper
• TRAC-IK: An open-source library for improved solving of generic inverse kinematics

  2015cited by this paper
• Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks

  2015cited by this paper
• ROS: an open-source Robot Operating System

  2009cited by this paper

• Minimal Footprint Grasping Inspired by Ants

  2026cites this paper
• Diffusion Suction Grasping with Large-Scale Parcel Dataset

  2025cites this paper
• TetraGrip: Sensor-Driven Multi-Suction Reactive Object Manipulation in Cluttered Scenes

  2025cites this paper
• ReC-Gripper: A Reconfigurable Combined Suction and Fingered Gripper for Various Logistics Picking and Stowing Tasks

  2024cites this paper
• CoAS-Net: Context-Aware Suction Network With a Large-Scale Domain Randomized Synthetic Dataset

  2024cites this paper
• GAgent: An Adaptive Rigid-Soft Gripping Agent with Vision Language Models for Complex Lighting Environments

  2024cites this paper
• A Biologically Inspired Design Principle for Building Robust Robotic Systems

  2024cites this paper
• Scaling Object-centric Robotic Manipulation with Multimodal Object Identification

  2024cites this paper
• OptiGrasp: Optimized Grasp Pose Detection Using RGB Images for Warehouse Picking Robots

  2024cites this paper
• Transformable Soft Gripper: Uniting Grasping and Suction for Amphibious Cross-Scale Objects Grasping

  2024cites this paper
• Single-Motor Robotic Gripper With Three Functional Modes for Grasping in Confined Spaces

  2023cites this paper
• GRASP: Grocery Robot's Adhesion and Suction Picker

  2023cites this paper
• Model-Free Grasping with Multi-Suction Cup Grippers for Robotic Bin Picking

  2023cites this paper
• Online tangible robot programming: interactive automation method from teleoperation of manipulation task

  2023cites this paper
• Deformable Linear Objects 3D Shape Estimation and Tracking From Multiple 2D Views

  2023cites this paper
• CVML-Pose: Convolutional VAE Based Multi-Level Network for Object 3D Pose Estimation

  2023cites this paper
• Robot suction region prediction method from knowledge to learning in disordered manufacturing scenarios

  2023cites this paper
• Custom Grasping: A Region-Based Robotic Grasping Detection Method in Industrial Cyber-Physical Systems

  2023cites this paper
• DYNAMO-GRASP: DYNAMics-aware Optimization for GRASP Point Detection in Suction Grippers

  2023cites this paper
• AntGrip - Boosting Parallel Plate Gripper Performance Inspired by the Internal Hairs of Ant Mandibles

  2023cites this paper
• Selective 6D grasping with a collision avoidance system based on point clouds and RGB+D images

  2023cites this paper
• Autonomous service robot for human-aware restock, straightening and disposal tasks in retail automation

  2022cites this paper
• Single-Fingered Reconfigurable Robotic Gripper With a Folding Mechanism for Narrow Working Spaces

  2022cites this paper
• Cooperatively Scheduling Hundreds of Fetch and Freight Robots in an Autonomous Warehouse

  2022cites this paper
• Multi-robot cooperation for mixed depalletizing

  2022cites this paper
• MT-DSSD: multi-task deconvolutional single shot detector for object detection, segmentation, and grasping detection

  2022cites this paper
• Mechanical Search on Shelves using a Novel “Bluction” Tool

  2022cites this paper
• Scalable POMDP Decision-Making Using Circulant Controllers

  2021cites this paper
• Image-Based Joint State Estimation Pipeline for Sensorless Manipulators

  2021cites this paper
• Vision-based detection and grasping by a mobile manipulator

  2021cites this paper
• A Practical Approach for Picking Items in an Online Shopping Warehouse

  2021cites this paper
• Sample-efficient safety assurances using conformal prediction

  2021cites this paper
• Beyond the Baseline: 3D Reconstruction of Tiny Objects With Single Camera Stereo Robot

  2021cites this paper
• A control structure for ambidextrous robot arm based on Multiple Adaptive Neuro‐Fuzzy Inference System

  2021cites this paper
• Gesture- and vision-based automatic grasping and flexible placement in teleoperation

  2021cites this paper
• Habitat 2.0: Training Home Assistants to Rearrange their Habitat

  2021cites this paper
• Robotics Dexterous Grasping: The Methods Based on Point Cloud and Deep Learning

  2021cites this paper
• Robotic Grasping With Multi-View Image Acquisition and Model-Based Pose Estimation

  2021cites this paper
• SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping

  2021cites this paper
• A Methodology for Approaching the Integration of Complex Robotics Systems: Illustration Through a Bimanual Manipulation Case Study

  2021cites this paper
• Learning image-based Receding Horizon Planning for manipulation in clutter

  2021cites this paper
• Object-Independent Grasping in Heavy Clutter

  2020cites this paper
• Design of a Flexible End-Effector for Logistics Sorting Robot

  2020cites this paper
• Robotic Grasping Using Semantic Segmentation and Primitive Geometric Model Based 3D Pose Estimation

  2020cites this paper
• Scalable, physics-aware 6D pose estimation for robot manipulation

  2020cites this paper
• Human-Robot Collaboration and Dialogue for Fault Recovery on Hierarchical Tasks

  2020cites this paper
• A Self-supervised Learning System for Object Detection in Videos Using Random Walks on Graphs

  2020cites this paper
• Rearrangement: A Challenge for Embodied AI

  2020cites this paper
• A Survey on Learning-Based Robotic Grasping

  2020cites this paper
• An adaptive robotic grasping with a 2-finger gripper based on deep learning network

  2020cites this paper
• Robot Manipulation Planning Among Obstacles: Grasping, Placing and Rearranging

  2020cites this paper
• Squeezed Deep 6DoF Object Detection using Knowledge Distillation

  2020cites this paper
• Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC)

  2020cites this paper
• Bellows Suction Cup Equipped With Force Sensing Ability by Direct Coating Thin-Film Resistor for Vacuum Type Robotic Hand

  2020cites this paper
• MT-DSSD: Deconvolutional Single Shot Detector Using Multi Task Learning for Object Detection, Segmentation, and Grasping Detection

  2020cites this paper
• Multiplexed Manipulation: Versatile Multimodal Grasping via a Hybrid Soft Gripper

  2020cites this paper
• Mechanically Programmed Miniature Origami Grippers

  2020cites this paper
• Simplificación de la tarea de picking industrial para el diseño de un sistema robótico

  2020cites this paper
• End-to-End Learning of Object Grasp Poses in the Amazon Robotics Challenge

  2020cites this paper
• Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data

  2020cites this paper
• Dex-Net AR: Distributed Deep Grasp Planning Using a Commodity Cellphone and Augmented Reality App

  2020cites this paper
• Steps Towards Best Practices For Robot Videos

  2020cites this paper
• Designing Cartman: A Cartesian Manipulator for the Amazon Robotics Challenge 2017

  2020cites this paper
• Learning efficient push and grasp policy in a totebox from simulation

  2020cites this paper
• Intuitive Planning, Generation, and Tracking of Trajectory for WMR With Mobile Computing Device and Embedded System

  2020cites this paper
• Few-experiential learning system of robotic picking task with selective dual-arm grasping

  2020cites this paper
• Development of a Robotic System for Automated Decaking of 3D-Printed Parts

  2020cites this paper
• Photovoltaic plant condition monitoring using thermal images analysis by convolutional neural network-based structure

  2020cites this paper
• Q-bot: heavy object carriage robot for in-house logistics based on universal vacuum gripper

  2020cites this paper
• Image Processing Techniques to Improve Deep 6DoF Detection in RGB Images

  2019cites this paper
• Learning ambidextrous robot grasping policies

  2019cites this paper
• A review: machine learning on robotic grasping

  2019cites this paper
• Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction

  2019cites this paper
• Learning Physics-Based Manipulation in Clutter: Combining Image-Based Generalization and Look-Ahead Planning

  2019cites this paper
• Vision for Robust Robot Manipulation

  2019cites this paper
• Adversarial Grasp Objects

  2019cites this paper
• Mobile Picking-Robot having wide reach area for shelves

  2019cites this paper
• A Three-Fingered Hand with a Suction Gripping System for Warehouse Automation

  2019cites this paper
• Vision-based Robotic Grasping from Object Localization, Pose Estimation, Grasp Detection to Motion Planning: A Review

  2019cites this paper
• Object-Agnostic Suction Grasp Affordance Detection in Dense Cluster Using Self-Supervised Learning.docx

  2019cites this paper
• Building a Target Recognition Pipeline for Mechanical Search and Algorithmically Generating Adversarial Grasp Objects with Minimal Random Perturbations

  2019cites this paper
• Computing and Evaluating Adversarial Grasp Objects with Systematic Face Rotations and Applications of Dense Object Descriptors to Mechanical Search

  2019cites this paper
• Semi Supervised Deep Quick Instance Detection and Segmentation

  2019cites this paper
• Probabilistic Active Filtering for Object Search in Clutter

  2019cites this paper
• Household Objects Pick and Place Task for AR-601M Humanoid Robot

  2019cites this paper
• Learning Robotic Grasping Policies for Suction Cups and Parallel Jaws in Simulation

  2019influential citation
• Bin-picking Robot using a Multi-gripper Switching Strategy based on Object Sparseness

  2019cites this paper
• Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects

  2019cites this paper
• Towards Automated Order Picking Robots for Warehouses and Retail

  2019cites this paper
• Portable compact suction pad unit for parallel grippers

  2019cites this paper
• Pose-Aware Placement of Objects with Semantic Labels - Brandname-based Affordance Prediction and Cooperative Dual-Arm Active Manipulation

  2019cites this paper
• Learning Visual Affordances for Robotic Manipulation

  2019cites this paper
• What are the important technologies for bin picking? Technology analysis of robots in competitions based on a set of performance metrics

  2019cites this paper
• Restock and straightening system for retail automation using compliant and mobile manipulation

  2019cites this paper
• Dex-Net AR: Distributed Deep Grasp Planning Using an Augmented Reality Application and a Smartphone Camera

  2019cites this paper
• RGB-D object detection and semantic segmentation for autonomous manipulation in clutter

  2018cites this paper
• Improved GQ-CNN: Deep Learning Model for Planning Robust Grasps

  2018cites this paper
• Deep Network based Automatic Annotation for Warehouse Automation

  2018cites this paper
• A Summary of the 4th International Workshop on Recovering 6D Object Pose

  2018cites this paper
• A Deep Framework for Automatic Annotation with Application to Retail Warehouses

  2018cites this paper