ROBOPICKER ADDRESSES THE PROBLEM OF THE AUTOMATION OF THE COLLECTION OPERATION -O PICKING- OF ARTICULOS IN WAREHOUSES OF ONLINE SALES COMPANIES. MORE SPECIFICALLY, WE TAKE AS A MODEL THE COMPANY AMAZON.COM, WHICH TAKES ADVANTAGE OF THE LATEST TECHNOLOGICAL ADVANCES AND HAS RECENTLY INCORPORATED THOUSANDS OF MOBILE ROBOTS FROM KIVA SYSTEMS, PREVENTING ITS EMPLOYEES FROM HAVING TO WALK MANY MILES A DAY IN THEIR WAREHOUSES. STILL, COLLECTING ARTICLES FROM THE SHELVES BY A ROBOT ARM REMAINS A DIFFICULT CHALLENGE IN UNSTRUCTURED ENVIRONMENTS. TODAY, IT CAN BE SAID THAT PICKING IS FAR FROM BEING A COMMERCIALLY VIABLE AUTOMATED PROCESS. IT IS THAT A SYSTEM WITH A ROBOTIC ARM VISUALLY SELECTS, AMONG THE OBJECTS PRESENT ON AN INVENTORY SHELF, THOSE THAT FORM PART OF AN ORDER, PICK THEM UP AND DEPOSIT THEM IN A BASKET FOR SUBSEQUENT PACKAGING AND DELIVERY TO THE CUSTOMER. SOLVING THIS CHALLENGE REQUIRES COMBINING KNOWLEDGE FROM DIFFERENT DISCIPLINES, NAMELY: RECOGNITION OF OBJECTS AND POSE, PLANNING OF THE GRIP, COMPLACENT MANIPULATION, PLANNING OF MOVEMENT AND TASKS, AND DETECTION AND RECOVERY OF ERRORS. THE MEMBERS OF THE RESEARCH TEAM ARE PART OF THE ROBINLAB GROUP AT JAUME I UNIVERSITY (UJI), WHICH HAS EXPERIENCE IN ALL THESE DISCIPLINES AND HAS DEVELOPED SYSTEMS SUCH AS THE UJI LIBRARY ROBOT. THE GENERAL OBJECTIVE OF THIS PROJECT IS THE DEVELOPMENT OF A ROBOTIC SYSTEM TO COLLECT ARTICLES IN ONLINE SALES WAREHOUSES AND, MORE SPECIFICALLY, A SYSTEM THAT FOLLOWS THE SPECIFICATIONS OF THE RECENT CHALLENGE PROPOSED BY AMAZON TO THE SCIENTIFIC COMMUNITY UNDER THE NAME OF AMAZON PICKING CHALLENGE. THAT IS, GIVEN A MODEL OF A KIVA SHELF WITH 12 COMPARTMENTS, A SET OF POSSIBLE ARTICLES PLACED ON THEM AT RANDOM, AND AN ORDER COMPOSED OF A SUBSET OF THOSE OBJECTS, DEVELOP A PROTOTYPE CAPABLE OF TAKING THE OBJECTS OF THE ORDER AND PLACING THEM IN A BOX AT LEAST. THE DIFFICULTY IN DISPOSITION, NUMBER AND NATURE OF OBJECTS IN THE WHOLE WILL INCREASE THROUGHOUT THE PROJECT, TAKING AS THE STARTING POINT THE 25 PROPOSED BY AMAZON. THE REASONS JUSTIFYING THE DIFFICULTY OF THE CHALLENGE STEM FROM THE FACT THAT IT IS A REAL STORAGE ENVIRONMENT, IN A RESTRICTED SPACE, WITH SEVERAL OBJECTS INSIDE A SMALL GAP, LITTLE VISIBILITY AND ACCESSIBILITY, LITTLE MANEUVERABILITY AND MANIPULABILITY, WHICH FORCES POORLY CONDITIONED ARM CONFIGURATIONS, WITH ORDINARY OBJECTS OF VERY DIFFERENT SHAPES AND SIZES, SUCH AS A RUBBER DUCKLING IN A PLASTIC BAG, A COOKIE BOX OR A BAG WITH THREE PELLETS. THE COMPETITION OF THIS CHALLENGE TOOK PLACE IN SEATTLE LAST MAY WITH PARTICIPATION OF ROBINLAB AS THE ONLY SPANISH REPRESENTATIVE AMONG 31 TEAMS OF PRESTIGIOUS INSTITUTIONS. THE PROTOTYPE TO BE DEVELOPED WILL BE ADAPTED FROM THE BAXTER ROBOT OF RETHINK ROBOTICS, AND WILL UNDERGO AN EXHAUSTIVE PROCESS OF EVALUATION, VALIDATION AND DEMONSTRATION IN A RELEVANT ENVIRONMENT THAT FAITHFULLY REPRODUCES THE CONDITIONS OF THE FINAL APPLICATION. IT WILL ALSO CONTINUE WITH SOME MORE THEORETICAL RESEARCH LINES TO SUGGEST IDEAS AND PROOFS OF CONCEPT THAT CAN CONTRIBUTE TO IMPROVING THE DIFFERENT METHODS TO ADDRESS THE PROBLEMS POSED BY THE CHALLENGE. THE PROPOSAL IS PART OF THE CHALLENGE OF THE ECONOMY AND THE DIGITAL SOCIETY, AND THE TECHNOLOGIES OF INFORMATION AND COMMUNICATIONS.