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In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…
Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…
Agriculture remains a cornerstone of global health and economic sustainability, yet labor-intensive tasks such as harvesting high-value crops continue to face growing workforce shortages. Robotic harvesting systems offer a promising…
The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
Interest in agricultural robotics has increased considerably in recent years due to benefits such as improvement in productivity and labor reduction. However, current problems associated with unstructured environments make the development…
Robotic technology is increasingly considered the major mean for fruit picking. However, picking fruits in a dense cluster imposes a challenging research question in terms of motion/path planning as conventional planning approaches may not…
Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation…
This paper presents multi-vision-based localisation strategies for harvesting robots. Identifying picking points accurately is essential for robotic harvesting because insecure grasping can lead to economic loss through fruit damage and…
Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate…
There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design…
Current agriculture and farming industries are able to reap advancements in robotics and automation technology to harvest fruits and vegetables using robots with adaptive grasping forces based on the compliance or softness of the fruit or…
In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…
This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…
Robotic fruit harvesting holds potential in precision agriculture to improve harvesting efficiency. While ground mobile robots are mostly employed in fruit harvesting, certain crops, like avocado trees, cannot be harvested efficiently from…
This work proposes a fast heuristic algorithm for the coupled scheduling and trajectory planning of multiple Cartesian robotic arms harvesting fruits. Our method partitions the workspace, assigns fruit-picking sequences to arms, determines…
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…
Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…
Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…
Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable due to physical constraints. Even though it is…