Perception and motion planning for pick-and-place of dynamic objects

Mobile manipulators have brought a new level of flexibility to traditional automation tasks such as tabletop manipulation, but are not yet capable of the same speed and reliability as industrial automation. We present approaches to 3D perception and manipulator motion planning that enable a general purpose robotic platform to recognize and manipulate a variety of objects at a rate of one pick-and-place operation every 6.7 s, and work with a conveyor belt carrying objects at a speed of 33^cm/s.