An Autonomous Harvesting Robot for Sweet-pepper in Greenhouses (Fin-Ray end-effector)

This video shows robotic harvesting of sweet-pepper fruits in a commercial Dutch greenhouse in June 2014. Two different types of end-effectors were designed and tested, this video shows the robot with the “Fin-Ray gripper”. This gripper features a combined grip and cut mechanism. It first grips the fruit and after that the peduncle of the fruit is cut. The end-effector has a miniature RGB and a Time of Flight (ToF) camera for refining the fruit position and to determine the fruit pose. The base of the robot