Geometry-Based Grasping of Vine Tomatoes

1 Mar 2021  ·  Taeke de Haan, Padmaja Kulkarni, Robert Babuska ·

We propose a geometry-based grasping method for vine tomatoes. It relies on a computer-vision pipeline to identify the required geometric features of the tomatoes and of the truss stem... The grasping method then uses a geometric model of the robotic hand and the truss to determine a suitable grasping location on the stem. This approach allows for grasping tomato trusses without requiring delicate contact sensors or complex mechanistic models and under minimal risk of damaging the tomatoes. Lab experiments were conducted to validate the proposed methods, using an RGB-D camera and a low-cost robotic manipulator. The success rate was 83% to 92%, depending on the type of truss. read more

PDF Abstract
No code implementations yet. Submit your code now

Tasks


Datasets


  Add Datasets introduced or used in this paper

Results from the Paper


  Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.

Methods


No methods listed for this paper. Add relevant methods here