Force Sensor-Based Picking Pattern Analysis and Two-Jaw Gripper Design for Cherry Tomato Robotic Harvesting in Greenhouse
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초록 발췌
Robotic harvesting of cherry tomatoes in greenhouses remains challenging due to dense fruit clusters, delicate skin, and the need for gentle yet effective detachment. This study presents a force-data-driven framework for autonomous cherry tomato harvesting that integrates six-axis force/torque sensing, a bio-inspired compliant gripper, and deployment on a mobile robotic platform.
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