This paper presents a robot system for manipulation and picking of tomato fruits guided by computer vision. A CNN algorithm trained on a custom image dataset is used for fruit detection and the depth camera enables position estimation. The robot manipulator is equipped with a commercial soft gripper for picking fragile objects. Three planning procedures have been proposed to successfully reach and grasp the tomatoes. Experiments on simulated crops have compared the effectiveness of the proposed procedures.
Robot Manipulation of Tomato Fruits using a Commercial Soft Gripper / Monica, Riccardo; LODI RIZZINI, Dario; Caselli, Stefano. - (2024), pp. 1-7. (Intervento presentato al convegno 29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024 tenutosi a ita nel 2024) [10.1109/ETFA61755.2024.10710713].
Robot Manipulation of Tomato Fruits using a Commercial Soft Gripper
Riccardo Monica;Dario Lodi Rizzini
;Stefano Caselli
2024-01-01
Abstract
This paper presents a robot system for manipulation and picking of tomato fruits guided by computer vision. A CNN algorithm trained on a custom image dataset is used for fruit detection and the depth camera enables position estimation. The robot manipulator is equipped with a commercial soft gripper for picking fragile objects. Three planning procedures have been proposed to successfully reach and grasp the tomatoes. Experiments on simulated crops have compared the effectiveness of the proposed procedures.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
