Physics-Based Motion Planning of a Fruit Harvesting Manipulator for Pushing Obstacles in a Cluttered Environment

Miyuki Nakamura, Yosuke Kawasaki, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Recently, the agricultural population is decreasing, and the demand for autonomous agricultural robots has increased. For a robot to successfully harvest fruits in diverse environments, various obstacles must be pushed away from its path. During the pushing motion, however, gravity acts on the fruits, causing them to move back and forth and return to their original state after being pushed away. This results in fruit-to-fruit contact, and fruit damage may occur. Therefore, a method to avoid obstacles while reducing the risk of fruit damage is required. However, the direct consideration of fruit damage is difficult because it requires many parameters that are difficult to observe. Herein, we propose a motion planning method by considering the potential energy of fruits as an evaluation index, which could be calculated based on observable parameters; this consideration could also suppress the reciprocating motion of fruits, thus preventing fruit damage. The proposed method was evaluated through simulations, and its effectiveness was verified.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 17 - Proceedings of the 17th International Conference IAS-17
EditorsIvan Petrovic, Ivan Markovic, Emanuele Menegatti
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages12
ISBN (Print)9783031222153
Publication statusPublished - 2023
Event17th International Conference on Intelligent Autonomous Systems, IAS-17 - Zagreb, Croatia
Duration: 2022 Jun 132022 Jun 16

Publication series

NameLecture Notes in Networks and Systems
Volume577 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


Conference17th International Conference on Intelligent Autonomous Systems, IAS-17


  • Cluttered environment
  • Harvesting robot
  • Kinodynamic motion planning
  • Manipulation
  • Physics-based motion planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications


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