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dc.contributor.authorMohamed, Aen
dc.contributor.authorShaw-Sutton, Jen
dc.contributor.authorGreen, BMen
dc.contributor.authorAndrews, Wen
dc.contributor.authorRolley-Parnell, EJen
dc.contributor.authorZhou, Yen
dc.contributor.authorZhou, Pen
dc.contributor.authorMao, Xen
dc.contributor.authorFuller, MPen
dc.contributor.authorStoelen, MFen

© Wageningen Academic Publishers 2019 The harvesting of soft fruits and vegetables is a labour-intensive process, often representing more than 50% of the total costs for the producer. In this paper, a harvesting robot is proposed for tomato picking. The robotic solution is developed to address the needs of tomato producers in the Shanghai region in China, one that faces population growth and therefore a higher demand on food supply. The robotic system presented consists of a variable-stiffness manipulator arm, a soft robot gripper, and different types of sensors that are used to identify and locate in 3D and pick the tomatoes. The implemented variable compliance enables the robot manipulator to work in a semi-structured environment without damage to itself, the crop or the surrounding. The hardware and software of the robot is described in detail. Early results from the first testing of a proof-of-concept on fresh tomatoes placed on artificial stems in Shanghai are presented, as well as picking UK tomato varieties in greenhouse conditions.

dc.format.extent799 - 805en
dc.titleSoft manipulator robot for selective tomato harvestingen
dc.typeConference Contribution
plymouth.journalPrecision Agriculture 2019 - Papers Presented at the 12th European Conference on Precision Agriculture, ECPA 2019en
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Biological and Marine Sciences
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA06 Agriculture, Veterinary and Food Science
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dc.rights.embargoperiodNot knownen
rioxxterms.typeConference Paper/Proceeding/Abstracten

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