Investigation into Harvesting Soft Fruit Clusters
We propose an investigation into harvesting soft fruit clusters with robotics. Separating the problem into two distinct problems: motion planning to grasp the soft fruit (task 1); motion planning to release the soft fruit from the cluster (task 2). We will apply probabilistic movement primitives updated with model predictive control to task 1 and a probabilistic movement primitive architecture to task 2. We intend to test task 1 on strawberry clusters and task 2 on mushroom clusters.