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Droukas L, Doulgeri Z, Tsakiridis NL, Triantafyllou D, Kleitsiotis I, Mariolis I, Giakoumis D, Tzovaras D, Kateris D, Bochtis D. A Survey of Robotic Harvesting Systems and Enabling Technologies. J INTELL ROBOT SYST 2023; 107:21. [PMID: 36721646 PMCID: PMC9881528 DOI: 10.1007/s10846-022-01793-z] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Accepted: 11/25/2022] [Indexed: 01/28/2023]
Abstract
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority of literature concerns the development of crop detection, field navigation via vision and their related challenges. Health monitoring, yield estimation, water status inspection, seed planting and weed removal are frequently encountered tasks. Regarding robotic harvesting, apples, strawberries, tomatoes and sweet peppers are mainly the crops considered in publications, research projects and commercial products. The reported harvesting agricultural robotic solutions, typically consist of a mobile platform, a single robotic arm/manipulator and various navigation/vision systems. This paper reviews reported development of specific functionalities and hardware, typically required by an operating agricultural robot harvester; they include (a) vision systems, (b) motion planning/navigation methodologies (for the robotic platform and/or arm), (c) Human-Robot-Interaction (HRI) strategies with 3D visualization, (d) system operation planning & grasping strategies and (e) robotic end-effector/gripper design. Clearly, automated agriculture and specifically autonomous harvesting via robotic systems is a research area that remains wide open, offering several challenges where new contributions can be made.
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Affiliation(s)
- Leonidas Droukas
- Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki (AUTH), Thessaloniki, 54124 Greece
| | - Zoe Doulgeri
- Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki (AUTH), Thessaloniki, 54124 Greece
| | - Nikolaos L. Tsakiridis
- Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki (AUTH), Thessaloniki, 54124 Greece
| | - Dimitra Triantafyllou
- Information Technologies Institute (ITI), Centre for Research and Technology Hellas (CERTH), Thessaloniki, 57001 Greece
| | - Ioannis Kleitsiotis
- Information Technologies Institute (ITI), Centre for Research and Technology Hellas (CERTH), Thessaloniki, 57001 Greece
| | - Ioannis Mariolis
- Information Technologies Institute (ITI), Centre for Research and Technology Hellas (CERTH), Thessaloniki, 57001 Greece
| | - Dimitrios Giakoumis
- Information Technologies Institute (ITI), Centre for Research and Technology Hellas (CERTH), Thessaloniki, 57001 Greece
| | - Dimitrios Tzovaras
- Information Technologies Institute (ITI), Centre for Research and Technology Hellas (CERTH), Thessaloniki, 57001 Greece
| | - Dimitrios Kateris
- Institute for Bio-Economy and Agri-Technology (iBO), Centre for Research and Technology Hellas (CERTH), Volos, 38333 Greece
| | - Dionysis Bochtis
- Institute for Bio-Economy and Agri-Technology (iBO), Centre for Research and Technology Hellas (CERTH), Volos, 38333 Greece
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Su M, Guan Y, Huang D, Zhu H. Modeling and analysis of a passively adaptive soft gripper with the bio-inspired compliant mechanism. BIOINSPIRATION & BIOMIMETICS 2021; 16:055001. [PMID: 34082403 DOI: 10.1088/1748-3190/ac07f7] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/29/2020] [Accepted: 06/03/2021] [Indexed: 06/12/2023]
Abstract
Similar to the end effectors for traditional rigid robots, those for soft robots are essential as the interacting media between the robots and their environments. Inspired by the forelegs of climbing animals, a passively adaptive soft gripper (ASG), with six claws and a compliant mechanism, is developed for grasping objects and attaching to rough surfaces. The design method, grasp adaptability, form closure, and force equilibrium of the ASG are presented and analyzed in this paper. Due to the compliance at each claw root, the ASG possesses a high passive adaption to various objects. With sharp hooks, a form closure may be achieved easily when the ASG grasps rough objects with structured or unstructured shapes. The ASG grasping an object constitutes an under-actuated system, the solution to which is difficult to obtain. The Monte Carlo method is suggested to achieve effective solutions for such systems, and the in-hull rate is proposed to evaluate the difficulty of finding solution. Tests and experiments with the ASG grasping various objects have verified the adaptability and reliability of the ASG. The analytic and experimental results show that the novel ASG may be used as a universal gripper for soft manipulators and a prospective attaching device for biped climbing soft robots.
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Affiliation(s)
- Manjia Su
- Biomimetic and Intelligent Robotics Lab, School of Electro-Mechanical Engineering, Guangdong University of Technology, Guangzhou City 510006, Guangdong Province, People's Republic of China
| | - Yisheng Guan
- Biomimetic and Intelligent Robotics Lab, School of Electro-Mechanical Engineering, Guangdong University of Technology, Guangzhou City 510006, Guangdong Province, People's Republic of China
| | - Dongyu Huang
- Biomimetic and Intelligent Robotics Lab, School of Electro-Mechanical Engineering, Guangdong University of Technology, Guangzhou City 510006, Guangdong Province, People's Republic of China
| | - Haifei Zhu
- Biomimetic and Intelligent Robotics Lab, School of Electro-Mechanical Engineering, Guangdong University of Technology, Guangzhou City 510006, Guangdong Province, People's Republic of China
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Wan W, Harada K, Kanehiro F. Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2020.3014036] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Computing the best grasp in a discrete point set with wrench-oriented grasp quality measures. Auton Robots 2018. [DOI: 10.1007/s10514-018-9788-4] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
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Song H, Wang MY, Hang K. Fingertip Surface Optimization for Robust Grasping on Contact Primitives. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2789842] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Gu H, Zhang Y, Fan S, Jin M, Liu H. Grasp Configurations Optimization of Dexterous Robotic Hand Based on Haptic Exploration Information. INT J HUM ROBOT 2017. [DOI: 10.1142/s021984361750013x] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
Haptic exploration and grasp planning by dexterous robot hand are usually two independent research areas. In this paper, the determination of optimal grasp configurations after haptic exploration of unknown objects is discussed. The haptic exploration information is used to select initial grasp points and the corresponding robot configurations, which greatly improve the efficiency of grasp planning process. The feasible searching regions on the object are obtained under the constrains of manipulability and robot kinematics. Then, the optimization method based on KNN search is applied to find the optimal grasp positions in feasible searching regions. The selected optimal grasp points set can achieve high grasp quality under the constrains of robot kinematics and manipulability. The optimization method combines multiple grasp quality metrics, which is fast and feasible in optimal grasp points searching. Experiments validate the feasibility and effectivity of the proposed method.
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Affiliation(s)
- Haiwei Gu
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
| | - Yuanfei Zhang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
| | - Shaowei Fan
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
| | - Minghe Jin
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
| | - Hong Liu
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
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Hang K, Stork JA, Pollard NS, Kragic D. A Framework for Optimal Grasp Contact Planning. IEEE Robot Autom Lett 2017. [DOI: 10.1109/lra.2017.2651381] [Citation(s) in RCA: 20] [Impact Index Per Article: 2.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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Abstract
The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures are classified into two groups according to the main aspect they evaluate: location of contact points on the object and hand configuration. The approaches that combine different measures from the two previous groups to obtain a global quality measure are also reviewed, as well as some measures related to human hand studies and grasp performance. Several examples are presented to illustrate and compare the performance of the reviewed measures.
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New computational method for three-fingered force-closure test. ROBOTICA 2013. [DOI: 10.1017/s0263574713001057] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
SUMMARYThis paper proposes an efficient implementation of a force-closure test for frictional three-finger grasps. The implementation is based on a condition that transforms force-closure testing into the problem of convex hull intersection in projective space. The proposed implementation further reduces the problem into the problem of computing whether a line segment intersects a convex hull of at most four points. Implementation results are presented along with a thorough performance analysis and comparison with several existing methods. The results are also verified with arbitrary precision floating point computation. This provides comparison of qualitative error resulting from floating point roundoff. The result shows that the proposed implementation outperforms other methods in terms of speed and precision.
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Abstract
SUMMARYConsidering undesired slippage between manipulated object and finger tips of a multi-robot system, adaptive control synthesis of the object grasping and manipulation is addressed in this paper. Although many studies can be found in the literature dealing with grasp analysis and grasp synthesis, most assume no slippage between the finger tips and the object. Slippage can occur for many reasons such as disturbances, uncertainties in parameters, and dynamics of the system. In this paper, system dynamics is analyzed using a new presentation of friction and slippage dynamics. Then an adaptive control law is proposed for trajectory tracking and slippage control of the object as well as compensation for parameter uncertainties of the system, such as mass properties and coefficients of friction. Stability of the proposed adaptive controller is studied analytically and the performance of the system is studied numerically.
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Hadian Jazi S, Keshmiri M, Sheikholeslam F, Shahreza MG, Keshmiri M. Dynamic Analysis and Control Synthesis of Undesired Slippage of End-Effectors in a Cooperative Grasping. Adv Robot 2012. [DOI: 10.1080/01691864.2012.684277] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
Affiliation(s)
| | - Mehdi Keshmiri
- b Mech. Eng. Dept , Isfahan University of Technology , Isfahan , 841568311 , Iran
| | - Farid Sheikholeslam
- c Dept. of Elec. & Comp. Eng. , Isfahan University of Technology , Isfahan, 841568311, Iran
| | | | - Mohammad Keshmiri
- d Mech. & Indust. Dept. , Concordia University , Montreal , H3G 1M8, Canada
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Niparnan N, Sudsang A, Chongstitvatana P. Positive Span of Force and Torque Components in Three-Dimensional Four-Finger Force-Closure Grasps. Adv Robot 2012. [DOI: 10.1163/156855308x360596] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022]
Affiliation(s)
- Nattee Niparnan
- a Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand
| | - Attawith Sudsang
- b Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand;,
| | - Prabhas Chongstitvatana
- c Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand
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Jazi SH, Keshmiri M, Sheikholeslam F. Dynamic Analysis and Control Synthesis of Grasping and Slippage of an Object Manipulated by a Robot. Adv Robot 2012. [DOI: 10.1163/156855308x360776] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022]
Affiliation(s)
| | - Mehdi Keshmiri
- b Isfahan University of Technology, Isfahan 8415683111, Iran;,
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Abstract
SUMMARYMany object surfaces involve a number of pieces, expressed by different equations. Previous methods of optimal grasp planning can hardly cope with such cases. Ding et al. solve this problem by characterizing the object surface with convex facets and discrete points, then selecting the eligible ones for force-closure, and finally seeking the optimal contact positions on the selected elements. So far, however, no point contact with friction (PCwF) but only frictionless point contacts (FPC) can be used on the facets, while soft finger contacts (SFC) are excluded at all. In this paper, to the above two surface elements we add line segments. Moreover, the limitations on the contact types are completely removed. A general condition and a quantitative criterion of eligibility are presented, followed by a heuristic algorithm and an iterative algorithm for finding the better eligible elements. Three common examples show: the new advances make the formerly tough problems smoothly solvable.
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Abstract
SUMMARYIn this paper, we propose an approach for computing suboptimal grasps of polyhedral objects. Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench, we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure property. Accordingly, we reformulate the proposed force-closure test as a new linear programming problem, which we solve using an interior point method. Furthermore, we present an approach for finding appropriate stable grasps for a robotic hand on arbitrary objects. We use the simulated annealing technique for synthesizing suboptimal grasps of 3D objects. Through numerical simulations on arbitrary shaped objects, we show that the proposed approach is able to compute good grasps for multifingered hands within a reasonable computational time.
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Yu Zheng, Chee-Meng Chew. Distance Between a Point and a Convex Cone in $n$ -Dimensional Space: Computation and Applications. IEEE T ROBOT 2009. [DOI: 10.1109/tro.2009.2033333] [Citation(s) in RCA: 27] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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23
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Goldfeder C, Allen PK, Lackner C, Pelossof R. Grasp Planning via Decomposition Trees. ACTA ACUST UNITED AC 2007. [DOI: 10.1109/robot.2007.364200] [Citation(s) in RCA: 128] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Zhu X, Ding H. An Efficient Algorithm for Grasp Synthesis and Fixture Layout Design in Discrete Domain. IEEE T ROBOT 2007. [DOI: 10.1109/tro.2006.888919] [Citation(s) in RCA: 23] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Liu YH, Lam ML, Ding D. A Complete and Efficient Algorithm for Searching 3-D Form-Closure Grasps in the Discrete Domain. IEEE T ROBOT 2004. [DOI: 10.1109/tro.2004.829500] [Citation(s) in RCA: 91] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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