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. GRAPHICAL ABSTRACT

中文翻译：

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拣货的重要技术有哪些？基于一组性能指标的竞赛机器人技术分析

摘要 捡垃圾仍然是机器人技术中的一个挑战，作为最近机器人竞赛的专利。这些比赛是技术比较的绝佳平台，因为有些参赛者可能使用最先进的技术，而其他参赛者可能使用传统技术。尽管如此，即使根据比赛规则框架内的表现进行加分或减分，最终得分并不能直接反映技术的适用性。因此，很难理解哪些技术及其组合最适合各种现实世界的问题。在本文中，我们提出了一组根据实际现场使用选择的性能指标作为解决方案，以阐明垃圾箱拣选的重要技术。此外，我们使用选定的指标来比较我们的四个原始机器人系统，它在 2017 年亚马逊机器人挑战赛的 Stow 任务中取得了最佳表现。 基于这种比较，我们讨论哪些技术最适合在工厂和仓库自动化领域的拣选机器人中实际使用。图形概要