Almanzor, E;
Thuruthel, TG;
Iida, F;
(2022)
Automated Fruit Quality Testing using an Electrical Impedance Tomography-Enabled Soft Robotic Gripper.
In:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 8500-8506).
IEEE: Kyoto, Japan.
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Abstract
Soft robotic grippers are becoming increasingly popular for agricultural and logistics automation. Their passive conformability enables them to adapt to varying product shapes and sizes, providing stable large-area grasps. This work presents a novel methodology for combining soft robotic grippers with electrical impedance tomography-based sensors to infer intrinsic properties of grasped fruits. We use a Fin Ray soft robotic finger with embedded microspines to grab and obtain rich multi-direction electrical properties of the object. Learning-based techniques are then used to infer the desired fruit properties. The framework is extensively tested and validated on multiple fruit groups. Our results show that ripeness parameters and even weight of the grasped fruit can be estimated with reasonable accuracy autonomously using the proposed system.
| Type: | Proceedings paper |
|---|---|
| Title: | Automated Fruit Quality Testing using an Electrical Impedance Tomography-Enabled Soft Robotic Gripper |
| Event: | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Dates: | 23 Oct 2022 - 27 Oct 2022 |
| ISBN-13: | 9781665479271 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS47612.2022.9981987 |
| Publisher version: | https://doi.org/10.1109/IROS47612.2022.9981987 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Automation, Shape, Fingers, Soft robotics, Sensors, Impedance, Grippers |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10164313 |
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