5 accepted papers
In this paper, a novel prototype for harvesting table-top grown strawberries is presented, that is minimalist in its footprint interacting with the fruit. In our methodology, a smooth trapper manipulates the stem into a precise groove location at which a distant laser beam is focused. The tool reach
Collaborative robots (Cobots) are essential in flexible automation solutions, enabling fast and easy reconfiguration to adapt to varying task requirements in dynamic environments. This requires the ability to safely handle different payloads with varying inertial parameters, which may not be known i
In this paper, a novel prototype for hanging produce harvesting is presented, that is productive, versatile, and robust. In our methodology, the robot-mounted tube approaches, and eventually surrounds the produce of interest at the entry side, that can be as small as the produce diameter, plus a sma…
In this paper, we present a novel grasp planning algorithm for unknown objects given a registered point cloud of the target from different views. The proposed methodology requires no prior knowledge of the object, nor offline learning. In our approach, the gripper kinematic model is used to generate…
Grippers made from soft elastomers are able to passively and gently adapt to their targets allowing deformable objects to be grasped safely without causing bruise or damage. However, it is difficult to regulate the contact forces due to the lack of contact feedback for such grippers. In this paper,…