Stow：将物品装入纺织货物袋的机器人装填
机器人学
2025-05-08 v1
摘要
本文提出了一种能够将物品放置到密集封闭货架上的柔顺操作系统。广泛的物品多样性以及严格的商业要求（高产能率和低缺陷率）已使仓库机器人无法完成此类任务。我们在硬件、感知、决策、运动规划和控制方面的创新，使系统能够在大型电商配送中心完成超过 50 万次装填操作。该系统在装填密度和速度方面达到人类水平，同时优先处理高架货架上的工作，以提高与人类协作作业时的安全性。
引用
@article{arxiv.2505.04572,
title = {Stow: Robotic Packing of Items into Fabric Pods},
author = {Nicolas Hudson and Josh Hooks and Rahul Warrier and Curt Salisbury and Ross Hartley and Kislay Kumar and Bhavana Chandrashekhar and Paul Birkmeyer and Bosch Tang and Matt Frost and Shantanu Thakar and Tony Piaskowy and Petter Nilsson and Josh Petersen and Neel Doshi and Alan Slatter and Ankit Bhatia and Cassie Meeker and Yuechuan Xue and Dylan Cox and Alex Kyriazis and Bai Lou and Nadeem Hasan and Asif Rana and Nikhil Chacko and Ruinian Xu and Siamak Faal and Esi Seraj and Mudit Agrawal and Kevin Jamieson and Alessio Bisagni and Valerie Samzun and Christine Fuller and Alex Keklak and Alex Frenkel and Lillian Ratliff and Aaron Parness},
journal= {arXiv preprint arXiv:2505.04572},
year = {2025}
}