Sensing and end-effector for a robotic tomato harvester

Peter Ling, Reza Ehsani, K. C. Ting, Nagarajan Ramalingam, Michael H. Klingman, Yu Tseh Chi, Craig Draper

Research output: Contribution to journalShort surveypeer-review


An end-effector subsystem, including a four-finger prosthetic hand and an embedded hand controller, was designed and assembled for the tomato picking, holding and placing tasks. By integrating the custom-designed machine vision system, an end-effector, a commercial robotic manipulator, and a mobile platform, the robotic tomato harvester was evaluated for its tomato picking performance. Robot guidance for the tomato picking operation was done by identifying locations and sizes of harvestable tomatoes. The purpose of the end-effector is to pick one fruit at a time from a tomato plant and deposit it for storage or transport.

Original languageEnglish (US)
Pages (from-to)13-14
Number of pages2
JournalResource: Engineering and Technology for Sustainable World
Issue number7
StatePublished - Sep 2005

ASJC Scopus subject areas

  • Biotechnology
  • Agricultural and Biological Sciences(all)
  • Engineering(all)


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