A storage and picking system for conducting a complex picking task, which requires manipulation of several objects at the same time, comprising: a detection unit, which is a camera and configured to detect cyclically at least the objects with regard to position and orientation thereof, and generate corresponding data; and a multi-arm robot comprising: a basic frame; a plurality of arms simultaneously movable, independently from each other, and being mounted to the basic frame; a plurality of manipulators, wherein each of the arms is connected to one of the manipulators; and an arm-control unit configured to move the arms, dependent on situation, into arm-specific positions and arm-specific orientations so that several ones of the arms conduct the complex picking task simultaneously and together by manipulating the objects with the corresponding manipulators in accordance with preset operation, and being configured to determine cyclically positions and orientations of the objects relative to the multi-arm robot from the data of the detection unit, wherein the complex picking task includes several manipulation steps temporally performed in parallel and/or sequentially, without an exchange of manipulator, by several ones of the arms; characterized in that one of the arms and/or manipulators is provided with at least one sensor monitoring directly, in addition to the detecting unit, handling of the objects in order to provide feedback to the multi-arm robot during conduction of the complex picking task, thereby allowing determination whether the complex picking task is conducted correct or wrong, and whether additional measures need to be taken for completing the complex picking task successfully, wherein the at least one sensor is selected from a group comprising: temperature sensor, pressure sensor, force sensor, voltage or current sensor, and weight sensor. a detection unit, which is a camera and configured to detect cyclically at least the objects with regard to position and orientation thereof, and generate corresponding data; and a multi-arm robot comprising: a basic frame; a plurality of arms simultaneously movable, independently from each other, and being mounted to the basic frame; a plurality of manipulators, wherein each of the arms is connected to one of the manipulators; and an arm-control unit configured to move the arms, dependent on situation, into arm-specific positions and arm-specific orientations so that several ones of the arms conduct the complex picking task simultaneously and together by manipulating the objects with the corresponding manipulators in accordance with preset operation, and being configured to determine cyclically positions and orientations of the objects relative to the multi-arm robot from the data of the detection unit, wherein the complex picking task includes several manipulation steps temporally performed in parallel and/or sequentially, without an exchange of manipulator, by several ones of the arms; characterized in that one of the arms and/or manipulators is provided with at least one sensor monitoring directly, in addition to the detecting unit, handling of the objects in order to provide feedback to the multi-arm robot during conduction of the complex picking task, thereby allowing determination whether the complex picking task is conducted correct or wrong, and whether additional measures need to be taken for completing the complex picking task successfully, wherein the at least one sensor is selected from a group comprising: temperature sensor, pressure sensor, force sensor, voltage or current sensor, and weight sensor. a basic frame; a plurality of arms simultaneously movable, independently from each other, and being mounted to the basic frame; a plurality of manipulators, wherein each of the arms is connected to one of the manipulators; and an arm-control unit configured to move the arms, dependent on situation, into arm-specific positions and arm-specific orientations so that several ones of the arms conduct the complex picking task simultaneously and together by manipulating the objects with the corresponding manipulators in accordance with preset operation, and being configured to determine cyclically positions and orientations of the objects relative to the multi-arm robot from the data of the detection unit, wherein the complex picking task includes several manipulation steps temporally performed in parallel and/or sequentially, without an exchange of manipulator, by several ones of the arms; characterized in that one of the arms and/or manipulators is provided with at least one sensor monitoring directly, in addition to the detecting unit, handling of the objects in order to provide feedback to the multi-arm robot during conduction of the complex picking task, thereby allowing determination whether the complex picking task is conducted correct or wrong, and whether additional measures need to be taken for completing the complex picking task successfully, wherein the at least one sensor is selected from a group comprising: temperature sensor, pressure sensor, force sensor, voltage or current sensor, and weight sensor.