Related papers: An analysis of sensor selection for fruit picking …
The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of…
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…
Suction cups are an important gripper type in industrial robot applications, and prior literature focuses on using vision-based planners to improve grasping success in these tasks. Vision-based planners can fail due to adversarial objects…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
Selectively picking a target fruit surrounded by obstacles is one of the major challenges for fruit harvesting robots. Different from traditional obstacle avoidance methods, this paper presents an active obstacle separation strategy that…
Wearable biosensor technology enables real-time, convenient, and continuous monitoring of users behavioral signals. Such include signals relative to body motion, body temperature, biological or biochemical markers, and individual grip…
Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…
The global agri-food sector faces increasing challenges from labour shortages, high consumer demand, and supply-chain disruptions, resulting in substantial losses of unharvested produce. Robotic harvesting has emerged as a promising…
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…
The human labour required for tree crop harvesting is a major cost component in fruit production and is increasing. To address this, many existing research works have sought to demonstrate commercially viable robotic harvesting for tree…
Rising global food demand and harsh working conditions make fruit harvest an important domain to automate. Peduncle localization is an important step for any automated fruit harvesting system, since fruit separation techniques are highly…
Global berry production and consumption have significantly increased in recent years, coinciding with increased consumer awareness of the health-promoting benefits of berries. Among them, fresh market blackberries and raspberries are…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
We present a research picking prototype related to our company's industrial waste sorting application. The goal of the prototype is to be as autonomous as possible and it both calibrates itself and improves its picking with minimal human…
Robotic strawberry harvesting remains challenging under partial occlusion, where leaf interference introduces significant geometric uncertainty and renders grasp decisions based on a single deterministic shape estimate unreliable. From a…
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…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…