相关论文: Vision-guided Autonomous Dual-arm Extraction Robot…
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…
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 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…
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…
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…
Horticultural tasks such as pruning and selective harvesting are labor intensive and horticultural staff are hard to find. Automating these tasks is challenging due to the semi-structured greenhouse workspaces, changing environmental…
Most existing robotic harvesters utilize a unimanual approach; a single arm grasps the crop and detaches it, either via a detachment movement, or by cutting its stem with a specially designed gripper/cutter end-effector. However, such…
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority…
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…
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…
Robots today can exploit the rich world knowledge of large language models to chain simple behavioral skills into long-horizon tasks. However, robots often get interrupted during long-horizon tasks due to primitive skill failures and…
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…
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…
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
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…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
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…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
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…