@article{f8f492c2e2d44a83a7f6ace1ed35bc04,
title = "What are the important technologies for bin picking? Technology analysis of robots in competitions based on a set of performance metrics",
abstract = "Bin picking is still a challenge in robotics, as patent in recent robot competitions. These competitions are an excellent platform for technology comparisons since some participants may use state-of-the-art technologies, while others may use conventional ones. Nevertheless, even though points are awarded or subtracted based on the performance in the frame of the competition rules, the final score does not directly reflect the suitability of the technology. Therefore, it is difficult to understand which technologies and their combination are optimal for various real-world problems. In this paper, we propose a set of performance metrics selected in terms of actual field use as a solution to clarify the important technologies in bin picking. Moreover, we use the selected metrics to compare our four original robot systems, which achieved the best performance in the Stow task of the Amazon Robotics Challenge 2017. Based on this comparison, we discuss which technologies are ideal for practical use in bin picking robots in the fields of factory and warehouse automation.",
keywords = "Quality metrics, bin picking, general gripper, manipulation strategy, object recognition",
author = "M. Fujita and Y. Domae and A. Noda and {Garcia Ricardez}, {G. A.} and T. Nagatani and A. Zeng and S. Song and A. Rodriguez and A. Causo and Chen, {I. M.} and T. Ogasawara",
note = "Funding Information: We gratefully thank our colleagues and team members whose support drove the success of our teams. Team MIT-Princeton : Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, and Thomas Funkhouser. Team Nanyang : Reeve Zheng Hao Chong, Kok Yuan Yik, Ramamoorthy Luxman, Pang Wee Ching, Ren Meixuan, Teoh Yee Seng, Hendra Suratno Tju, Wu Jing, Zhang Dongsheng, and Zhao Yi. Team MC : Ryosuke Kawanishi, Kenta Kato, Koji Shiratsuchi, Rintaro Haraguchi, Ryosuke Araki, Hironobu Fujiyoshi, Shuichi Akizuki, Manabu Hashimoto, Hiroyuki Tsutada, Makito Seki, Haruhisa Okuda, Kiyoshi Maekawa, Masahiro Shikai, Masaki Iizuka, Takuro Torii, Takahiro Hasegawa, Takashi Nanmoto, Katsuhoshi Maekawa, Katsuhisa Yamada, Akira Okihiro, Takeshi Katsura, and Norio Matsui. Team NAIST-Panasonic : Lotfi El Hafi, Felix von Drigalski, Wataru Yamazaki, Viktor Hoerig, Arnaud Delmotte, Akishige Yuguchi, Marcus Gall, Chika Shiogama, Kenta Toyoshima, Pedro Uriguen, Rodrigo Elizalde, Masaki Yamamoto, Yasunao Okazaki, Kazuo Inoue, Katsuhiko Asai, Ryutaro Futakuchi, Seigo Okada, Yusuke Kato, and Pin-Chu Yang. Publisher Copyright: {\textcopyright} 2019, {\textcopyright} 2019 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.",
year = "2020",
month = apr,
day = "17",
doi = "10.1080/01691864.2019.1698463",
language = "English (US)",
volume = "34",
pages = "560--574",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "7-8",
}