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Sweet pepper robot harvesting

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This video shows the robotic harvesting of sweet pepper fruit in a commercial Dutch greenhouse in June 2014. Two different types of end-equipment were designed and tested, this video shows the robot with the patent pending “Lip-type” manupulator. This end effector first stabilizes the fruit with a suction cup, after which two rings grip the fruit and cut off the fruit stalk. The detached fruit slides through a flexible tube into the container. The end-effector has a miniature RGB and a Time of Flight (ToF) camera to determine the position of the fruit and to determine the ripeness of the fruit.