1A2-C08 Development of Peduncle-Introducing End-effecter in Strawberry Harvesting Robot Approaching from both sides of Elevated Cultivation

Abstract

We are currently developing a strawberry-harvesting robot which has 5 D.O.F. manipulator, 1 D.O.F. gripper, and a stereo vision system. In this paper, a new gripper and evaluation experiments are shown. The prior gripper sometimes caught a wrong peduncle, so we developed a less-invasive gripper which has two finer fingers. As a result of the evaluation experiments, we confirmed that the failure rate of harvesting decreased.