Related papers: Towards vision-based dual arm robotic fruit harves…
Autonomous aerial harvesting is a highly complex problem because it requires numerous interdisciplinary algorithms to be executed on mini low-powered computing devices. Object detection is one such algorithm that is compute-hungry. In this…
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…
Dual-arm robots have great application prospects in intelligent manufacturing due to their human-like structure when deployed with advanced intelligence algorithm. However, the previous visuomotor policy suffers from perception deficiencies…
With the goal of developing fully autonomous cooking robots, developing robust systems that can chop a wide variety of objects is important. Existing approaches focus primarily on the low-level dynamics of the cutting action, which…
Robotic Grasping has always been an active topic in robotics since grasping is one of the fundamental but most challenging skills of robots. It demands the coordination of robotic perception, planning, and control for robustness and…
Grasping large flat objects, such as books or keyboards lying horizontally, presents significant challenges for single-arm robotic systems, often requiring extra actions like pushing objects against walls or moving them to the edge of a…
We propose a procedural fruit tree rendering framework, based on Blender and Python scripts allowing to generate quickly labeled dataset (i.e. including ground truth semantic segmentation). It is designed to train image analysis deep…
With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes.…
This paper proposes a concept of computer vision-based guidance assistance for agricultural vehicles to increase the accuracy in plowing and reduce driver's cognitive burden in long-lasting tillage operations. Plowing is a common…
Effective and efficient agricultural manipulation and harvesting depend on accurately understanding the current state of the grasp. The agricultural environment presents unique challenges due to its complexity, clutter, and occlusion.…
DexFruit is a robotic manipulation framework that enables gentle, autonomous handling of fragile fruit and precise evaluation of damage. Many fruits are fragile and prone to bruising, thus requiring humans to manually harvest them with…
Accurate estimation of fruit hardness is essential for automated classification and handling systems, particularly in determining fruit variety, assessing ripeness, and ensuring proper harvesting force. This study presents an innovative…
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and…
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…
Using robots to harvest sweet peppers in protected cropping environments has remained unsolved despite considerable effort by the research community over several decades. In this paper, we present the robotic harvester, Harvey, designed for…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example application, demonstrate non-destructive plant mass estimation.…
This project aims to develop and demonstrate a ground robot with intelligence capable of conducting semi-autonomous farm operations for different low-heights vegetable crops referred as Agriculture Application Robot(AAR). AAR is a…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…