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Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been…

Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…

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…

Accurate mass estimation of table-top grown strawberries under field conditions remains challenging due to frequent occlusions and pose variations. This study proposes a vision-based pipeline integrating RGB-D sensing and deep learning to…

In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…

Automating tasks in outdoor agricultural fields poses significant challenges due to environmental variability, unstructured terrain, and diverse crop characteristics. We present a robotic system for autonomous pepper harvesting designed to…

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…

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…

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…

This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…

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…

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.…

In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable…

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…

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…

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…

Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, robotic harvesting has attracted increasing attention in…

In this paper, we present a computer vision-based approach to measure the sizes and growth rates of apple fruitlets. Measuring the growth rates of apple fruitlets is important because it allows apple growers to determine when to apply…

This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…

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…