Alejandro Velasquez — accepted AI-conference papers

2024

Dynamic evaluation of a suction based gripper for fruit picking using a physical twin

Alejandro Velasquez, Cindy Grimm, Joseph R. Davidson

ICRA 2024poster

We present and evaluate a novel suction-based gripper designed for fruit picking. This work is motivated by common problems observed in field trials of robotic harvesting: Calibration/perception errors, workspace obstacles, fruit swinging/moving when contacted, and varying stem and branch stiffnesse…

Cited by 3 Source ↗Scholar ↗

2022

Predicting fruit-pick success using a grasp classifier trained on a physical proxy

Alejandro Velasquez, Nigel Swenson, Miranda Cravetz, Cindy Grimm, Joseph R. Davidson

IROS 2022poster

Apple picking is a challenging manipulation task, but it is difficult to test solutions due to the limited window of time that apples are in season. Previous methods have built simulations of apple trees, but simulations rarely capture soft contact and deformation well, both of which are common in f…

Cited by 9 Source ↗Scholar ↗