Predicting fruit-pick success using a grasp classifier trained on a physical proxy
Alejandro Velasquez,Nigel Swenson,Miranda Cravetz,Cindy Grimm,Joseph R. Davidson,Alejandro Velasquez,Nigel Swenson,Miranda Cravetz,Cindy Grimm,Joseph R. Davidson
Apple picking is a challenging manipulation task, but it is difficult to test solutions due to the limited window of time that apples are in season. Previous methods have built simulations of apple trees, but simulations rarely capture soft contact and deformation well, both of which are common in fruit picking. In this paper we present and validate a physical proxy that replicates the mechanics o...
