Abstract
Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to grasp trusses that are stacked in a crate with considerable clutter, which is how they are commonly stored and transported after harvest. The method consists of a deep learning-based vision system to first identify the individual trusses in the crate and then determine a suitable grasping location on the stem. To this end, we have introduced a grasp pose ranking algorithm with online learning capabilities. After selecting the most promising grasp pose, the robot executes a pinch grasp without needing touch sensors or geometric models. Lab experiments with a robotic manipulator equipped with an eye-in-hand RGB-D camera showed a 100% clearance rate when tasked to pick all trusses from a pile. 93% of the trusses were successfully grasped on the first try, while the remaining 7% required more attempts.
Original language | English |
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Title of host publication | Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2024 |
Publisher | IEEE |
Pages | 13947-13953 |
Number of pages | 7 |
ISBN (Electronic) | 979-8-3503-8457-4 |
DOIs | |
Publication status | Published - 2024 |
Event | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Duration: 13 May 2024 → 17 May 2024 |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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ISSN (Print) | 1050-4729 |
Conference
Conference | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 |
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Country/Territory | Japan |
City | Yokohama |
Period | 13/05/24 → 17/05/24 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.