Stability tests of two-finger tomato grasping for harvesting robots

Biosystems Engineering

Volumn 116, Issue 2, 2013, Pages 163-170

  Li, Zhiguo ^a   Li, Pingping ^b   Yang, Hongling ^a   Wang, Yuqing ^a  

^a HENAN POLYTECHNIC UNIVERSITY   (China)

^b JIANGSU UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

GEOMETRIC INFORMATION; GRASP STABILITIES; GRASPING STABILITY; HARVESTING ROBOT; PREDICTION METHODS; PROGRAMMED CONTROLS; VISION PROCESSING; VISUAL PERCEPTION;

STABILITY;

FRUITS;

EID: 84883014799     PISSN: 15375110     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.biosystemseng.2013.07.017     Document Type: Article

References (26)

1. Aleotti J., Caselli S. Interactive teaching of task-oriented robot grasps. Robotics and Autonomous Systems 2010, 58:539-550.
2. Birglen L., Gosselin C.M. Grasp-state plane analysis of two-phalanx underactuated fingers. Mechanism and Machine Theory 2006, 41:807-822.
3. Daoud N., Gazeau J.P., Zeqhloul S., Arsicault M. A real-time strategy for dexterous manipulation: fingertips motion planning, force sensing and grasp stability. Robotics and Autonomous Systems 2012, 60:377-386.
4. Funahashi Y., Yamada T., Tate M., Suzuki Y. Grasp stability analysis considering the curvatures at contact points. Proceedings of the international conference on robotics and automation, Minneapolis, 4 1996, 3040-3046.
5. Jenmalm P., Goodwin A.W., Johansson R.S. Control of grasp stability when humans lift objects with different surface curvatures. Journal of Neurophysiology 1998, 79:1643-1653.
6. Kitthawee U., Pathaveerat S., Srirungruang T., Slaughter D. Mechanical bruising of young coconut. Biosystems Engineering 2011, 109:211-219.
7. Kondo N., Taniwaki S., Tanihara K., Yata K., Monta M., Kurita M., et al. An end-effector and manipulator control for tomato cluster harvesting robot. 2007 ASABE annual international meeting 2007, Paper No: 073144. Minneapolis, Minnesota, USA.
8. Kragten G.A., Herder J.L., Schwab A.L. On the influence of contact geometry on grasp stability. Proceedings of the ASME 2008 IDETC/CIE, New York 2008, 1-6.
9. Li Z., Li P., Liu J. Physical and mechanical properties of tomato fruits as related to robot's harvesting. Journal of Food Engineering 2011, 103:170-178.
10. Li Z., Liu J., Li P., Li W. Analysis of workspace and kinematics for a tomato harvesting robot. Proceedings of the 2008 ICICTA. IEEE computer society, Changsha, 2 2008, 823-827.
11. Li Z., Li P., Yang H., Liu J. Fruit biomechanics based on anatomy: a review. International Agrophysics 2013, 27(1):97-106.
12. Li Z., Li P., Yang H., Liu J. Internal mechanical damage prediction in tomato compression using multiscale finite element models. Journal of Food Engineering 2013, 116(3):639-647.
13. Li Z., Li P., Yang H., Liu J., Xu Y. Mechanical properties of tomato exocarp, mesocarp and locular gel tissues. Journal of Food Engineering 2012, 111:82-91.
14. Monta M., Kondo N., Ting K.C. End-effectors for tomato harvesting robot. Artificial Intelligence Review 1998, 12:11-25.
15. Montana D.J. Contact stability for two-fingered grasps. IEEE Transactions on Robotics and Automation 1992, 8:421-430.
16. Morales A., Sanz P.J., del Pobil A.P., Fagg A.H. Vision-based three-finger grasp synthesis constrained by hand geometry. Robotics and Autonomous Systems 2006, 54:496-512.
17. Nguyen V.D. Constructing force-closure grasps. International Journal of Robotics 1988, 7:3-16.
18. Noohi E., Moradi H., Noori N., Ahmadabadi M.N. Manipulation of polygonal objects with two wheeled-tip fingers: planning in the presence of contact position error. Robotics and Autonomous Systems 2011, 55:44-55.
19. Ortiz C., Blasco J., Balasch S., Torregrosa A. Shock absorbing surfaces for collecting fruit during the mechanical harvesting of citrus. Biosystems Engineering 2011, 110:2-9.
20. Ponce J., Faverjon B. On computing three-finger force-closure grasps of polygonal objects. IEEE Transactions on Robotics and Automation 1995, 11:868-881.
21. Ponce J., Sullivan S., Sudsang A., Boissonnat J.D., Merlet J.P. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics 1997, 16:11-35.
22. Shapiro A., Rimon E., Shoval S. On the passive force closure set of planar grasps and fixtures. International Journal of Robotics 2010, 29:1435-1454.
23. Svinin M.M., Kaneko M., Tsuji T. Internal forces and stability in multi-finger grasps. Control Engineering Practice 1999, 7:413-422.
24. Tanigaki K., Fujiura T., Akase A., Imagawa J. Cherry-harvesting robot. Computers and Electronics in Agriculture 2008, 63:65-72.
25. USDA United standards for grades of fresh tomatoes 1991, Available from,
26. Van Henten E.J., Van't Slot D.A., Hol C.W.J., Van Willigenburg L.G. Optimal manipulator design for a cucumber harvesting robot. Computers and Electronics in Agriculture 2009, 65:247-257.