Скачать или смотреть Bimanual grape harvesting with the BACCHUS harvesting robot

A dual-arm coordinated motion control methodology for the harvesting of a target grape cluster is presented, utilizing the BACCHUS harvesting robotic platform. The camera arm equipped with the cutter reaches the crop's stem, visually unveiling it as much as possible. Concurrently, the second arm grasps and then manipulates the target crop, moving it towards the calculated surrounding free-space to facilitate its stem cutting. After the stem is reached and cut by the cutter, the detached crop is transferred into its storage location, completing the harvesting process.

The research leading to these results has received funding from the European Community’s Framework Programme Horizon 2020 under grant agreement No 871704, project BACCHUS.

https://bacchus-project.eu/