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We present the grasping system and design approach behind Cartman, thewinning entrant in the 2017 Amazon Robotics Challenge. We investigate thedesign processes leading up to the final iteration of the system and describethe emergent solution by comparing it with key robotics design aspects.Following our experience, we propose a new design aspect, precision vs.redundancy, that should be considered alongside the previously proposed designaspects of modularity vs. integration, generality vs. assumptions, computationvs. embodiment and planning vs. feedback. We present the grasping system behindCartman, the winning robot in the 2017 Amazon Robotics Challenge. The systemmakes strong use of redundancy in design by implementing complimentary tools, asuction gripper and a parallel gripper. This multi-modal end-effector iscombined with three grasp synthesis algorithms to accommodate the range ofobjects provided by Amazon during the challenge. We provide a detailed systemdescription and an evaluation of its performance before discussing the broadernature of the system with respect to the key aspects of robotic design asinitially proposed by the winners of the first Amazon Picking Challenge. Toaddress the principal nature of our grasping system and the reason for itssuccess, we propose an additional robotic design aspect `precision vs.redundancy'. The full design of our robotic system, including the end-effector,is open sourced and available athttp://juxi.net/projects/AmazonRoboticsChallenge/

Design of a Multi-Modal End-Effector and Grasping System: How Integrated Design helped win the Amazon Robotics Challenge