This fake raspberry allows researchers to train fruit-picking robots in the lab before field tests Read the full story:
From human demonstration of successful harvest on the sensorized physical twin, we can obtain a target performance for the robot and insights into designing a controller. Using this physical twin, we can then perform lab based trials where we seek to imitate the human across a range of different ripeness settings. Through the embedded sensors on the physical twin, a quantitative metric can be designed to tune control parameters through gradient based cost functions.
To demonstrate this approach, our physical raspberry twin was used to develop the harvesting and the visual servoing controller for a raspberry harvesting robot. When deployed to the field following only lab based training we record an 80% successful harvesting rate for raspberries with none or minimal damage observed. The vision system also successfully transfers to allow the robot to identify the raspberry and locate within 6.5 mm from the center point of the fruit.
The harvesting robot comprises of a force-controlled parallel-jaw gripper with silicone fingers to increase the contact friction. The raspberry harvesting process uses two controllers: the harvesting controller, which modulates the gripping force while pulling the fruit off the plant; and the visual servoing controller, which uses on board cameras to approach and align the fingers to the raspberry.
The development of the harvesting controller begins by obtaining the human reference response when a human harvests the physical twin. Based on the characteristics of this response, the controller can be designed and its parameters can be tuned through lab trials. Certain parameters of the controller are tuned automatically by comparing the robot and human response on a harvest. The visual servoing controller is also developed in the lab only using the physical twin setup.
Finally, the successes and failures in the field environment are analyzed by comparing the robot performance between the lab and field setup by observing where the similarities and differences are between the physical twin and the real crop.The goal of the physical twin is to mirror reality whilst providing force feedback. There are a large number of environmental variables which affect the harvesting process.
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