双腕協調により枝を押さえるサクランボ収穫ロボットシステム

抄録

Harvesting is a hard work among farm works. Although one of means to reduce time and effort is automation, there are very little examples of automation for crops which are harvested carefully and politely. In case of harvesting such crops, moving obstacles such as leaves out of the way or holding a branch is required. We propose a dual-arm harvesting robot which can do such tasks. Moreover, we focus on a cherry. Holding a branch is required while pulling a cherry's pedicels to harvest a cherry. This paper describes a dual-arm robot which can hold a cherry tree's branch while harvesting cherries.