Demonstrator for a Collaborative Human-Robot Picking System

This paper introduces a demonstrator for a Collaborative Human-Robot Picking application consisting of a robot in front of a rack picking known objects into a bin. The major part of the system demonstrates the execution of picking orders carried out by human pickers and picking robots in a common workspace. A further part includes the training of Convolutional Neural Networks for object detection. A central concept of the system is an Emergency Call enabling the robot to request help if problems occur during object detection or grasping. The main goals of this demonstrator are to evaluate the interaction between human pickers and robots and to test the performance of object detection.