tag:blogger.com,1999:blog-73103891047969466922024-03-13T02:00:44.224+01:00Team DelftThis blog describes the participation of Team Delft in the Amazon Picking Challenge, a robot competition to develop a smart robotic system capable of handling a variety of products in warehouses.chcorbatohttp://www.blogger.com/profile/01951559174824124253noreply@blogger.comBlogger3125tag:blogger.com,1999:blog-7310389104796946692.post-28615287359095218382016-07-21T15:58:00.003+02:002016-09-07T09:57:31.095+02:00How Team Delft won the APC 2016 (1): System Overview<div class="MsoNormal" style="mso-margin-bottom-alt: auto; mso-margin-top-alt: auto; mso-outline-level: 2;">
<span style="font-family: "arial"; text-align: justify;">When we
decided to participate in the Amazon Picking Challenge, the first decision was
to a) gather the best team possible, b) design the best possible system, to
win. We would choose the best technologies and components available to build a reliable
and efficient solution, as industry requires.</span></div>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgu250xpPApANOMgNgjhNu_xoHIF6SCSQiUR9ci8VE9NWoh_DLwR0CIZptcFzqtrAp7tCBAbcZPHjaD3F1UkOl3xjFBTlRa9gKWUhoIry7xikv8DVR6gO4kOW3CtuH39erHI2pG3yaumTI/s1600/IMG_3340.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgu250xpPApANOMgNgjhNu_xoHIF6SCSQiUR9ci8VE9NWoh_DLwR0CIZptcFzqtrAp7tCBAbcZPHjaD3F1UkOl3xjFBTlRa9gKWUhoIry7xikv8DVR6gO4kOW3CtuH39erHI2pG3yaumTI/s400/IMG_3340.jpg" width="400" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;"><span style="font-family: "arial"; text-align: justify;"><span style="font-size: x-small;">Team Delft has gathered academic researchers and industry professionals,<br />but overall passionate roboticists!</span></span><span style="font-family: "arial"; text-align: justify;"> </span></td></tr>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">To make the
baseline design decisions for our solution we analyzed the application
requirements, studied the results from the previous edition of APC, and
considered the expertise we had in our team. We aimed for a fast and robust
system, capable of detecting failed picks and try them again. For example, instead
of complex maneuvers to reach occluded products, our robot would simply
move blocking objects to other bins.</span></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">Our solution
was based on the sense-plan-act paradigm. This allows for optimal motions at
the price of more precise sensing information. The loop for the Picking
challenge proceeds as follows. First the order of the picks is decided to
maximize final scoring and guarantee the fastest first pick possible (this
proved key to win!). Then, for each item to pick the robot moves to scan the
bin with the first target item with the 3D camera to: a) locate it, b) get the
collision information to move inside the bin. Then the grasp planner computes
the grasping strategy and grasp pose, and a motion plan is generated to approach,
and retreat from the bin with the item. Following the motion is executed,
including gripper configuration and activation on the way. State is checked to
confirm a successful pick. If so, the robot moves to place the item in the
tote, using a simple logic to drop the item in pre-defined locations without
crashing fragile products. The flow for the Stowing Challenge is similar.<o:p></o:p></span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEioPaNdd-FPW7ZNp-Ux1PLrRwfdfJt9tDowSKIFmPfvCnD5UwkyZAvZnMjanHbXEoCJvQ8ugdmNWB6N6_jAIcPlrKX-XvFN3KYwdIKyHxKzBpgobEFhixQACof4l0dIshposnU6Vv67mmo/s1600/ROS-I.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img alt="" border="0" height="106" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEioPaNdd-FPW7ZNp-Ux1PLrRwfdfJt9tDowSKIFmPfvCnD5UwkyZAvZnMjanHbXEoCJvQ8ugdmNWB6N6_jAIcPlrKX-XvFN3KYwdIKyHxKzBpgobEFhixQACof4l0dIshposnU6Vv67mmo/s200/ROS-I.png" title="" width="200" /></a></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">For the
control software we used <a href="http://rosindustrial.org/" target="_blank">ROS-Industrial</a>. We had extensive experience in the
team using ROS-I for industrial applications. The use of ROS proved mandatory.
ROS allowed us to quickly adapt, test and integrate extant software components,
and develop the new ones that we needed <span style="mso-spacerun: yes;"> </span>(e.g. a grasp planner for our hybrid gripper,
or the application executive/coordination component).<o:p></o:p></span></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">We describe
below our basic design approach and core decisions for each general issue n the
APC challenge: robot, perception, grasping and gripper, motion and task planning.
In following posts we will cover more details of our robotic system in each
specific area.<o:p></o:p></span></div>
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<b style="mso-bidi-font-weight: normal;"><span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">Robot<o:p></o:p></span></b></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">After
preliminary analysis, we concluded that maximum reachability in the
workspace was a critical requirement for the competition. We chose
a configuration with a SIA20F Motoman robot arm by Yaskawa mounted on a
rail. The total 8 degrees of freedom allowed the system to reach all the bins
with enough maneuverability to pick the objects from any location inside.</span></div>
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<b style="mso-bidi-font-weight: normal;"><span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">Vision<o:p></o:p></span></b></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">We decided to
use two industrial stereo camera's with rgb overlay camera's. One camera for
detection of objects in the tote and one on the robot gripper to scan the bins.
Detection went in two steps. For object recognition we used a deep learning
neural network based on Faster RCNN. Next we performed localization using an
implementation of super4PCS to do a global optimization of the pose estimation.
After this the estimation is refined using ICP.<o:p></o:p></span></div>
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<b style="mso-bidi-font-weight: normal;"><span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">Grasping and gripper<o:p></o:p></span></b></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">We developed a
hybrid gripper customized to handle all the 39 products in the
competition. It incorporates both suction, with 1dof for more grasping
flexibility, and a pinch mechanism for the products difficult to suck. We designed
an algorithm that auto generates grasp locations on the objects based on their
position, geometry and environment constraints. Object-specific heuristics
were also included after testing.<o:p></o:p></span></div>
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<b style="mso-bidi-font-weight: normal;"><span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">Motion<o:p></o:p></span></b></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">To make the
robot motions as fast as possible, yet accurate enough for our sense-plan-act
approach, we divided the problem into the motions outside the shelf and inside its
bins. Outside there is no need for dynamic path planning: the environment is
static and known a priori. We created a database of collision-free trajectories
between the relevant fixed locations, e.g. image-capture and approach locations
in front of the shelf’s bin and over the tote. To move inside the bins we
simplified the dynamic path planning problem by using cartesian trajectories.
To implement our solution we developed customized ROS-services on top of the
ROS framework for motion planning <a href="http://moveit.ros.org/" target="_blank">MoveIt!</a><o:p></o:p></span></div>
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<b style="mso-bidi-font-weight: normal;"><span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">Task planning and coordination<o:p></o:p></span></b></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">To control the
execution of our sense-plan-act overarching loop we used a state machine approach implemented with <a href="http://wiki.ros.org/smach" target="_blank">ROS-Smach</a>.<o:p></o:p></span></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">We implemented
a dynamic task-planning to decide in which order to pick the items and where to
place them. It coded the competition scoring rules in logic rules, averaged
with heuristics for the difficulty of picking the different items, also
depending on the bin cluttering.<o:p></o:p></span></div>
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<span style="font-family: "arial";">More details about Team Delft robot coming soon!</span></div>
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<span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;">Twitter: </span><a href="https://twitter.com/teamdelft_apc"><span style="color: blue; font-family: "arial"; mso-bidi-font-family: Arial;">@teamdelft_apc</span></a><span style="color: black; font-family: "arial"; mso-bidi-font-family: Arial;"><o:p></o:p></span></div>
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chcorbatohttp://www.blogger.com/profile/01951559174824124253noreply@blogger.com3Delft, Netherlands52.011576899999987 4.35706770000001651.933368899999991 4.195706200000016 52.089784899999984 4.5184292000000159tag:blogger.com,1999:blog-7310389104796946692.post-10379558608808970262016-07-03T14:31:00.000+02:002016-07-21T12:35:04.139+02:00Team Delft wins the Amazon Picking Challenge 2016<h1>
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<span style="font-family: "arial" , "helvetica" , sans-serif; font-size: x-large;">Team Delft wins the Amazon Picking Challenge 2016</span></h2>
We are happy and proud to announce that Team Delft has won both the Picking and the Stowing competitions in the Amazon Picking Challenge. The competition was really intense (just check the <a href="http://www.amazonpickingchallenge.org/results.shtml" target="_blank">results</a>), and we have a lot of fun at RoboCup2016 with the rest of the APC teams.<br />
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhqGWSWMamxv7xgSB4BQEk1ouAl-KHXIFb_KdK0QFFuqRCqKUA3JRQgFGMKe5E5ejZNAdEFJSHAkokpkhyphenhyphen60_GItubwiyZ83udy2I0V2WD1fR5Axb5bORw-Jv8jTSdunRFtmGfVxuOlEBs/s1600/teamdelft-apcwinners.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhqGWSWMamxv7xgSB4BQEk1ouAl-KHXIFb_KdK0QFFuqRCqKUA3JRQgFGMKe5E5ejZNAdEFJSHAkokpkhyphenhyphen60_GItubwiyZ83udy2I0V2WD1fR5Axb5bORw-Jv8jTSdunRFtmGfVxuOlEBs/s400/teamdelft-apcwinners.jpeg" width="400" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Team Delft celebrates victory. So many people... try to find the robot!</td></tr>
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The stowing challenge was easier than expected, with high scores, and an outstanding performance of Team Delft robot, that stowed correctly 11 products in less than half the max time allowed!<br />
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The pick task finals proved to be nerve wrecking. Both Team Delft and our colleagues in team PFN
collected 105 points. According to the competition rules, the tie breaker would be the time to successfully complete the first pick; a ‘photo finish’! The jury maintained the nervous expectancy till the very last minute in the awards ceremony, when they announced Team Delft . NimbRo Picking ended third.<br />
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Several news and tech sites have made echo of it:<br />
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<li><a href="http://www.bbc.com/news/technology-36702758" target="_blank">BBC</a> - also compiled a really cool <a href="http://www.bbc.com/news/technology-36707518" target="_blank">video </a></li>
<li><a href="http://spectrum.ieee.org/automaton/robotics/industrial-robots/team-delft-wins-amazon-picking-challenge" target="_blank">IEEE Spectrum</a></li>
<li><a href="http://www.theverge.com/2016/7/5/12095788/amazon-picking-robot-challenge-2016" target="_blank">The Verge</a></li>
<li><a href="http://www.techrepublic.com/article/amazons-robot-worker-challenge-won-by-ai-powered-suction-arm/" target="_blank">Tech Republic</a></li>
</ul>
For more details about the technology behind our robot success, keep alert to this blog in the upcoming days! chcorbatohttp://www.blogger.com/profile/01951559174824124253noreply@blogger.com7tag:blogger.com,1999:blog-7310389104796946692.post-21410130974247325402016-05-24T13:27:00.005+02:002016-05-31T12:09:07.551+02:00<div class="sqs-block markdown-block sqs-block-markdown" data-block-type="44" id="block-yui_3_17_2_1_1461858055474_138789">
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<h2>
<span style="font-family: "arial" , "helvetica" , sans-serif; font-size: x-large;">Team Delft finalist in the Amazon Picking Challenge 2016 </span></h2>
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<span style="font-family: "arial" , "helvetica" , sans-serif;">We, Team Delft, are proud
to be one of the 16 finalist teams for the Amazon Picking Challenge 2016 <a href="https://youtu.be/KQaOD_hoOKQ" style="font-family: arial, helvetica, sans-serif;" target="_blank">[video]</a>. The challenge has two competitions: one for picking products from an Amazon Kiva shelf to fill in a tote, and the other one consisting of the reverse task of picking products from a tote to stow them in a shelf.</span><br />
<span style="font-family: "arial" , "helvetica" , sans-serif;"><br /></span>
<br />
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<span style="font-family: "arial" , "helvetica" , sans-serif;"><span style="color: black;">These tasks are representative of the current
challenges that warehouse automation faces nowadays. The unstructured
environment and the diversity of products require new robotic solutions. Smart
mechanical designs and advanced artificial intelligence techniques need to be
combined to address the challenges in </span><span style="color: black;">object recognition, grasping, dexterous manipulation, and motion
planning. The goal of Amazon Picking challenge is to promote innovative and
open solutions for automation in unstructured warehouse environments. It aims
at fostering research and collaboration between industry and academia.</span></span><br />
<span style="font-family: "arial" , "helvetica" , sans-serif;"><span style="color: black;"><br /></span></span></div>
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<div style="text-align: justify;">
<span style="color: black;"><span style="font-family: "arial" , "helvetica" , sans-serif;">Our team is formed by robotics researchers from the TU Delft Robotics
Institute, and robotic engineers from the startup Delft Robotics. </span><span style="font-family: "arial" , "helvetica" , sans-serif;">We are really excited about the challenge, to
demonstrate how robotic technologies can solve the present automation
challenges in industry.</span></span></div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi6_EhvOLZ6PwrkMkhybZOx6Pf2s1L7nPsNb8_gpyZxIOG5Ta0KwrZzj3LRlo1RZ8cUZFMCdWRzspxn97MbVrYX_4dqTdkr49SqvJ2LZLgGRAZ6hhGyOtdOwC5UQFEPQ3dlQ8YI8csoclc/s1600/IMG_2038.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi6_EhvOLZ6PwrkMkhybZOx6Pf2s1L7nPsNb8_gpyZxIOG5Ta0KwrZzj3LRlo1RZ8cUZFMCdWRzspxn97MbVrYX_4dqTdkr49SqvJ2LZLgGRAZ6hhGyOtdOwC5UQFEPQ3dlQ8YI8csoclc/s400/IMG_2038.jpg" width="400" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Team Delft</td></tr>
</tbody></table>
<span style="font-family: "arial" , "helvetica" , sans-serif; text-align: justify;">Since qualifying, we at Team Delft have been
developing an industrial grade robotic system for the challenge. It involves a
7 degree-of-freedom Motoman robot mounted on a rail, courtesy of Yaskawa
(sponsor). Ensenso cameras from sponsor Imagining Development Systems will feed
high quality 3D images to our vision pipeline for object recognition and
localization using Deep Learning techniques. The team is fully committed to
ROS-Industrial, an initiative TU Delft is leading with Fraunhofer IPA in Europe
to promote the use of reusable and reliable open source software for advanced
robot functionalities. Components for motion planning, robot control, grasping,
and PointCloud processing are being integrated into a fault-tolerant control
architecture for Team Delft's robot.</span><br />
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<span style="font-family: "arial" , "helvetica" , sans-serif;"><br /></span></div>
<div style="text-align: justify;">
<span style="font-family: "arial" , "helvetica" , sans-serif;">
Team Delft is supported by the Factory-in-a-day EU project who is fostering
flexible and smart robotic solutions for manufacturing and RoboValley, a unique
network consisting of researchers, industry and government agencies who are
working on the next generation robotics. </span></div>
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<div style="text-align: justify;">
<span style="font-family: "arial" , "helvetica" , sans-serif;">The new flexible and
reusable robotic solutions that we are developing will reduce costs, improve
quality and increase productivity. Robotic technologies will also shift human
labor from dull and physically demanding tasks to more creative activities,
creating new jobs around robots as they were created before around computers or
mobile phones.</span><span style="font-family: "arial" , "helvetica" , sans-serif;"> </span><span style="color: black;"><span style="font-family: "arial" , "helvetica" , sans-serif;">The Amazon Picking
Challenge will be held in conjunction with RoboCup 2016 in Leipzig, Germany
from June 30 to July 3, 2016.</span></span></div>
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<br />
<span style="font-family: "arial" , "helvetica" , sans-serif;">
</span><span style="font-family: "arial" , "helvetica" , sans-serif;">Follow us at: <a href="https://twitter.com/teamdelft_apc">@teamdelft_apc</a></span><br />
<br />
<span style="font-size: x-small;"><span style="font-family: "arial" , "helvetica" , sans-serif;">
</span><span style="font-family: "arial" , "helvetica" , sans-serif;">For more information about the Amazon Picking Challenge, please visit <a href="http://amazonpickingchallenge.org/">http://amazonpickingchallenge.org/</a></span></span></div>
</div>
chcorbatohttp://www.blogger.com/profile/01951559174824124253noreply@blogger.com0