相关论文: Tendon-Driven Soft Robotic Gripper with Integrated…
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…
As global demand for fruits and vegetables continues to rise, the agricultural industry faces challenges in securing adequate labor. Robotic harvesting devices offer a promising solution to solve this issue. However, harvesting delicate…
This paper presents a novel cable-driven gripper with perception capabilities for autonomous harvesting of strawberries. Experiments show that the gripper allows for more accurate and faster picking of strawberries compared to existing…
Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through the design, manufacturing, integration, and control of a…
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…
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.…
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…
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp…
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…
This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven…
Strawberry harvesting robots faced persistent challenges such as low integration of visual perception, fruit-gripper misalignment, empty grasping/misgrasp, and strawberry slippage from the gripper due to insufficient gripping force, all of…
Challenges in strawberry picking made selective harvesting robotic technology demanding. However, selective harvesting of strawberries is complicated forming a few scientific research questions. Most available solutions only deal with a…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
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…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
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…
In this paper, a novel tool prototype for harvesting table-top grown strawberries is presented. With robustness against strawberry localization error of 15mm and average cycle time of 8.02 seconds at 50% of maximum operational velocity, it…
Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in…
This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose…