A method for picking objects is specified, in which at least one object is removed from a source loading aid and placed into a target loading aid using a robot. After the operation of removing the object, a first sensor system of the robot is used to check whether at least one object is held by the robot. A number and/or a type of the at least one removed object is ascertained using the second sensor system. The operation of placing the at least one object into the target loading aid is aborted or modified if no object is held by the robot or the number and/or the type of the at least one removed object does not contribute to completing the picking order, which defines a desired number and/or desired type of objects in the target loading aid. Furthermore, a device and a computer program product for performing the presented method is specified.