SoftGrip

Functionalised Soft robotic gripper for delicate produce harvesting powered by imitation learning-based control

Completed

A soft robotic gripper with imitation-learning control for harvesting delicate fresh produce, demonstrated on mushrooms.

Programme: Horizon 2020
Call topic: ICT-47-2020Research and Innovation boosting promising robotics applications
Grant agreement: 101017054
Funded period: Jan 2021 – Jun 2024
THL role: PartnerCoordinator: Scuola Superiore Sant'Anna
Consortium: 6 organisations in 5 countriesGermany, Greece, Ireland, Italy, United Kingdom
Total budget: €3.0 MEU contribution €3.0 M
EU funding to THL: €545 k
Theme: Robotics for agri-food

Consortium

Partners

Results

2024
Imitation Learning from a Single Demonstration Leveraging Vector Quantization for Robotic Harvesting
Robotics
Journal articleSoftGripdoi:10.3390/robotics13070098
2024
SoftGrip: Towards a Soft Robotic Platform for Automatized Mushroom Harvesting
Springer Proceedings in Advanced Robotics
Conference paperSoftGripdoi:10.1007/978-3-031-76424-0_9
2023
Low-cost, accurate robotic harvesting system for existing mushroom farms
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Conference paperSoftGripdoi:10.1109/aim46323.2023.10196219
2023
Visual Imitation Learning for robotic fresh mushroom harvesting
Mediterranean Conference on Control and Automation (MED)
Conference paperSoftGripdoi:10.1109/med59994.2023.10185745