Development of an end-effector for a tomato cluster harvesting robot

Naoshi Kondo, Koki Yata, Michihisa Iida, Tomoo Shiigi, Mitsuji Monta, Mitsutaka Kurita, Hiromi Omori

Research output: Contribution to journalArticlepeer-review

88 Citations (Scopus)


An end-effector was developed for a tomato cluster harvesting robot. This end-effector can harvest not individual fruits but a whole fruit cluster to improve the robot's harvest efficiency. Experiments for harvesting tomato clusters were conducted in a high-density plant training system. According to a harvesting algorithm, the end-effector was able to perform well, even when target peduncle orientations were not given. Although the success rate of harvesting tomato clusters was 50 %, it is considered that this rate would improve if an end-effector is used for the high-wire tomato plant training systems in Dutch systems where the node lengths of plants are long enough to loosely hold the main stems.

Original languageEnglish
Pages (from-to)20-24
Number of pages5
JournalEngineering in Agriculture, Environment and Food
Issue number1
Publication statusPublished - Jan 1 2010


  • End-effector
  • Fruit cluster
  • Harvesting robot
  • Tomato

ASJC Scopus subject areas

  • Food Science
  • Chemical Engineering(all)
  • Industrial and Manufacturing Engineering


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