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This paper presents a novel cable-driven gripper with perception capabilitiesfor autonomous harvesting of strawberries. Experiments show that the gripperallows for more accurate and faster picking of strawberries compared toexisting systems. The gripper consists of four functional parts for sensing,picking, transmission, and storing. It has six fingers that open to form aclosed space to swallow a target strawberry and push other surrounding berriesaway from the target. Equipped with three IR sensors, the gripper controls amanipulator arm to correct for positional error, and can thus pick strawberriesthat are not exactly localized by the vision algorithm, improving therobustness. Experiments show that the gripper is gentle on the berries as itmerely cuts the stem and there is no physical interaction with the berriesduring the cutting process. We show that the gripper has close-to-perfectsuccessful picking rate when addressing isolated strawberries. By includinginternal perception, we get high positional error tolerance, and avoid usingslow, high-level closed-loop control. Moreover, the gripper can store severalberries, which reduces the overall travel distance for the manipulator, anddecreases the time needed to pick a single strawberry substantially. Theexperiments show that the gripper design decreased picking execution timenoticeably compared to results found in literature.

Design and Evaluation of a Novel Cable-Driven Gripper with Perception Capabilities for Strawberry Picking Robots