We constructed a high reliability parts-picking device with
an active and multi-sensor visual system, that picks up a part from
randomly stacked parts. The system determines the orders in which to
pick up the parts. To determine the order, we introduce concepts of
risks of collapsing a stack by picking, and the ease of manipulator
operations. The system examines if the risks exist and estimates the
ease. We show that the parts-picking system can achieve high reliability
by determining the orders, using the effects of the examination and the
estimation. We also give some experimental results.