Proof-of-concept modular robot platform for cauliflower harvesting
dc.contributor.author | Klein, FB | |
dc.contributor.author | Wilmot, A | |
dc.contributor.author | de Tejada, VF | |
dc.contributor.author | Rodriguez, BL | |
dc.contributor.author | Requena, I | |
dc.contributor.author | Busch, S | |
dc.contributor.author | Rondepierre, A | |
dc.contributor.author | Auzeeri, T | |
dc.contributor.author | Sauerwald, T | |
dc.contributor.author | Andrews, WFP | |
dc.contributor.author | Rihan, Hail | |
dc.contributor.author | Fuller, MP | |
dc.contributor.author | Stoelen, MF | |
dc.date.accessioned | 2019-09-04T14:48:44Z | |
dc.date.available | 2019-09-04T14:48:44Z | |
dc.date.issued | 2019-07-08 | |
dc.identifier.isbn | 9789086863372 | |
dc.identifier.uri | http://hdl.handle.net/10026.1/14874 | |
dc.description.abstract |
This paper presents a proof-of-concept platform for demonstrating robotic harvesting of summer-varieties of cauliflower, and early tests performed under laboratory conditions. The platform is designed to be modular and has two dexterous robotic arms with variable-stiffness technology. The bi-manual configuration enables the separation of grasping and cutting behaviours into separate robot manipulators. By exploiting the passive compliance of the variable-stiffness arms, the system can operate with both grasping and cutting tool close to the ground. Multiple 3D vision cameras are used to track the cauliflowers in real-time, and to attempt to assess the maturity. Early experiments with the platform in the laboratory highlight the potential and challenges of the platform. | |
dc.format.extent | 783-789 | |
dc.language.iso | en | |
dc.publisher | Wageningen Academic Publishers | |
dc.title | Proof-of-concept modular robot platform for cauliflower harvesting | |
dc.type | conference | |
dc.type | Conference Proceeding | |
plymouth.conference-name | 12th European Conference on Precision Agriculture | |
plymouth.publication-status | Published | |
plymouth.journal | Precision agriculture ’19 | |
dc.identifier.doi | 10.3920/978-90-8686-888-9_97 | |
plymouth.organisational-group | /Plymouth | |
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/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.embargoperiod | Not known | |
rioxxterms.versionofrecord | 10.3920/978-90-8686-888-9_97 | |
rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | |
rioxxterms.type | Conference Paper/Proceeding/Abstract |