CLASP: A Cluster-Level Autonomous Selective Picking Robot with a Soft Rolling-Band Gripper for Fresh-Market Blueberry Harvesting

2026-09-15

AI Summary

为解决新鲜蓝莓采摘需温和且选择性的问题，本文提出了一种使用软滚动带夹持器的集群级自主选择采摘机器人CLASP，通过控制拉力实现成熟果实的选择性采摘。

Abstract

Fresh-market blueberries require selective, gentle picking, which is labor-intensive and expensive. Over-the-row machine harvesters are fast but non-selective, bruising mixed-ripeness fruit and limiting yield to the processing market. Selective robotic harvesters typically target individual fruits rather than fruit clusters, which limits harvesting efficiency for small, densely clustered blueberries. This paper presents CLASP, a Cluster-Level Autonomous Selective Picking robot with a Soft Active Rolling-Band Gripper (SARB-Gripper). Two compliant bands envelop the cluster and roll against the fruit, drawing mature berries off in sequence, while closed-loop regulation of the pulling force keeps the applied load below the immature detachment threshold. A global-to-local perception pipeline pairs an eye-to-hand camera for global cluster detection and target selection with an eye-in-hand camera for local localization and cluster orientation estimation. Field measurements confirm a clear detachment-force separation between mature and immature fruit, and the SARB-Gripper reproduces a commanded pulling force to within \SI{3.7}{\percent}, enabling selective harvesting at the cluster level. In end-to-end field trials, CLASP autonomously grasped 23 of 25 presented clusters (\SI{92}{\percent}). With the component cost of approximately \$3326 per unit, CLASP offers a scalable approach to selective cluster-level harvesting for fresh-market blueberries.

Problem

• selective picking
• gentle harvesting
• blueberry clusters

Innovation

• Cluster-Level Autonomous Selective Picking
• Soft Active Rolling-Band Gripper
• SARB-Gripper
• global-to-local perception pipeline