机器人可高效安全地将物品塞入密集货架，适合电商仓储
Stow: Robotic Packing of Items into Fabric Pods
- 用柔顺操作+多模块协同实现复杂物品堆叠
- 完成超50万次堆垛，密度与速度达人工水平
- 优先处理高处货架，保障人机协作安全
本文提出一种柔顺操控系统，可将各类物品精准放置于密集货架。由于物品种类繁多且对生产效率与缺陷率要求极高，传统仓库机器人难以胜任此任务。通过硬件、感知、决策、运动规划与控制的综合创新，该系统已在大型电商履约中心完成超过50万次堆垛操作，达成人类水平的装载密度与速度，并优先处理上方货架，提升人机协同作业的安全性。
原文摘要 · Abstract (English)
This paper presents a compliant manipulation system capable of placing items onto densely packed shelves. The wide diversity of items and strict business requirements for high producing rates and low defect generation have prohibited warehouse robotics from performing this task. Our innovations in hardware, perception, decision-making, motion planning, and control have enabled this system to perform over 500,000 stows in a large e-commerce fulfillment center. The system achieves human levels of packing density and speed while prioritizing work on overhead shelves to enhance the safety of humans working alongside the robots.
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