# System Design and Control of an Apple Harvesting Robot

arXiv: https://arxiv.org/abs/2010.11296 · HTML: https://mlsanity.com/paper/2010.11296/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Oct 2020.

## Built on by (most cited first, 5 of 5)

- [O2RNet: Occluder-Occludee Relational Network for Robust Apple Detection in Clustered Orchard Environments](https://mlsanity.com/paper/2303.04884/) (2023)
- [MetaFruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models](https://mlsanity.com/paper/2407.04711/) (2024)
- [Foundation Model-Based Apple Ripeness and Size Estimation for Selective Harvesting](https://mlsanity.com/paper/2502.01850/) (2025)
- [Optimizing Indoor Farm Monitoring Efficiency Using UAV: Yield Estimation in a GNSS-Denied Cherry Tomato Greenhouse](https://mlsanity.com/paper/2505.00995/) (2025)
- [An analysis of sensor selection for fruit picking with suction-based grippers](https://mlsanity.com/paper/2604.24906/) (2026)

## Abstract (arXiv)

There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design and motion control of a robotic apple harvesting prototype, which lays a critical foundation for future advancements. Specifically, we develop a deep learning-based fruit detection and localization system using an RGB-D camera. A three degree-of-freedom manipulator is then designed with a hybrid pneumatic/motor actuation mechanism to achieve fast and dexterous movements. A vacuum-based end-effector is used for apple detaching. These three components are integrated into a robotic apple harvesting prototype with simplicity, compactness, and robustness. Moreover, a nonlinear velocity-based control scheme is developed for the manipulator to achieve accurate and agile motion control. Test experiments are conducted to demonstrate the performance of the developed apple harvesting robot.