An integrated tomato harvesting framework using a hybrid soft-rigid gripper with semantic segmentation and keypoint detection

Abstract This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven by a servo-actuated Scotch-yoke mechanism, and inc...

ver descrição completa

Detalhes bibliográficos

Principais autores:	Shahid Ansari, Mahendra Kumar Gohil, Yusuke Maeda, Bishakh Bhattacharya
Formato:	Artigo
Idioma:	Inglês
Publicado em:	Nature Portfolio 2026-04-01
coleção:	Scientific Reports
Assuntos:	Autonomous harvesting Soft-rigid hybrid gripper Auxetic structures Semantic segmentation Keypoint detection Force control
Acesso em linha:	https://doi.org/10.1038/s41598-026-42227-2
Tags:	Adicionar Tag Sem tags, seja o primeiro a adicionar uma tag!