Towards Collaborative Grape Harvesting with a Mobile Manipulator

Modern agriculture is progressively integrating robotic systems for a wide variety of tasks. Guided by the agricultural use case of the Sestosenso EU project, we introduce a robotic system consisting of a manipulator with a custom-designed end-effector, positioned on top of a mobile robotic platform. The robot’s primary function is to assist operators in hillside vineyards, facilitating grape harvesting. Key contributions include the development of a dedicated end-effector, implementation of computing hardware, and comprehensive robotic integration of the system. The work is completed with the final realisation and tests of the mobile robot prototype and assessment of the future work.