TY - JOUR
T1 - A lab-customized autonomous humanoid apple harvesting robot
AU - Yu, Xiaojun
AU - Fan, Zeming
AU - Wang, Xingduo
AU - Wan, Hao
AU - Wang, Pengbo
AU - Zeng, Xilei
AU - Jia, Feng
N1 - Publisher Copyright:
© 2021 Elsevier Ltd
PY - 2021/12
Y1 - 2021/12
N2 - This paper presents an autonomous humanoid robot, namely, LABOR, for apple harvesting. Comprised of a binocular camera, a humanoid dual-arm operating system, and a mobile vehicle platform, the devised robot is capable of identifying, positioning, grasping, and picking up apples via its vision identification and dual-arm harvesting systems. Both the robot structure design and the functional systems, as well as their implementations are described in detail and were verified via experiments in a simulated orchard environment. Results show success rates of 82.5% and 72% for the apple recognition and harvesting functions respectively, and the average apple harvesting time was approximately 14.6 s. The wide flexibility and high scalability in the robotic structure, dual-arm coordinate control, and independent harvest planning may facilitate its application in agriculture for the harvesting of other fruits, such as tomatoes, pomegranates, and pears.
AB - This paper presents an autonomous humanoid robot, namely, LABOR, for apple harvesting. Comprised of a binocular camera, a humanoid dual-arm operating system, and a mobile vehicle platform, the devised robot is capable of identifying, positioning, grasping, and picking up apples via its vision identification and dual-arm harvesting systems. Both the robot structure design and the functional systems, as well as their implementations are described in detail and were verified via experiments in a simulated orchard environment. Results show success rates of 82.5% and 72% for the apple recognition and harvesting functions respectively, and the average apple harvesting time was approximately 14.6 s. The wide flexibility and high scalability in the robotic structure, dual-arm coordinate control, and independent harvest planning may facilitate its application in agriculture for the harvesting of other fruits, such as tomatoes, pomegranates, and pears.
KW - Agricultural robotics
KW - Dual-arm manipulator
KW - Fruit harvesting
KW - Humanoid robot
KW - Image recognition
UR - http://www.scopus.com/inward/record.url?scp=85116856393&partnerID=8YFLogxK
U2 - 10.1016/j.compeleceng.2021.107459
DO - 10.1016/j.compeleceng.2021.107459
M3 - 文章
AN - SCOPUS:85116856393
SN - 0045-7906
VL - 96
JO - Computers and Electrical Engineering
JF - Computers and Electrical Engineering
M1 - 107459
ER -