{"id":"https://openalex.org/W4281846121","doi":"https://doi.org/10.1109/icarsc55462.2022.9784809","title":"End-Effectors for Harvesting Manipulators - State Of The Art Review","display_name":"End-Effectors for Harvesting Manipulators - State Of The Art Review","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4281846121","doi":"https://doi.org/10.1109/icarsc55462.2022.9784809"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc55462.2022.9784809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050141369","display_name":"Francisco Oliveira","orcid":"https://orcid.org/0009-0003-2400-3601"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Francisco Oliveira","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal","FEUP - Faculty of Engineering, University of Porto, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"FEUP - Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041361157","display_name":"V\u00edtor Tinoco","orcid":"https://orcid.org/0000-0001-5307-0318"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Vitor Tinoco","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","s-os-Montes and Alto Douro, Vila Real, Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal","UTAD - University of Tr&#x00E1"],"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"s-os-Montes and Alto Douro, Vila Real, Portugal","institution_ids":[]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"UTAD - University of Tr&#x00E1","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090386967","display_name":"Sandro Augusto Magalh\u00e3es","orcid":"https://orcid.org/0000-0002-3095-197X"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Sandro Magalhaes","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","FEUP - Faculty of Engineering, University of Porto, Porto, Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"FEUP - Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050279632","display_name":"Filipe Neves dos Santos","orcid":"https://orcid.org/0000-0002-8486-6113"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Filipe N. Santos","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023258418","display_name":"Manuel F. Silva","orcid":"https://orcid.org/0000-0002-0593-2865"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I83863532","display_name":"Polytechnic Institute of Porto","ror":"https://ror.org/04988re48","country_code":"PT","type":"education","lineage":["https://openalex.org/I83863532"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Manuel F. Silva","raw_affiliation_strings":["INESC TEC - INESC Technology and Science,Porto,Portugal","INESC TEC - INESC Technology and Science, Porto, Portugal","ISEP/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC TEC - INESC Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"INESC TEC - INESC Technology and Science, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"ISEP/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I83863532"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5050141369"],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":1.6713,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.84632935,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"98","last_page":"103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9614999890327454,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.9170844554901123},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.7476465106010437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5653896331787109},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5547008514404297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5530979633331299},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5038439631462097},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.48769912123680115},{"id":"https://openalex.org/keywords/effector","display_name":"Effector","score":0.4451858401298523},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4310705065727234},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4106028079986572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34098416566848755},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33658909797668457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28360968828201294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22805020213127136},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.063815176486969}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9170844554901123},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7476465106010437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5653896331787109},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5547008514404297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5530979633331299},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5038439631462097},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.48769912123680115},{"id":"https://openalex.org/C51785407","wikidata":"https://www.wikidata.org/wiki/Q2627568","display_name":"Effector","level":2,"score":0.4451858401298523},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4310705065727234},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4106028079986572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34098416566848755},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33658909797668457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28360968828201294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22805020213127136},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.063815176486969},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc55462.2022.9784809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2039680168","https://openalex.org/W2134716925","https://openalex.org/W2139772866","https://openalex.org/W2146967955","https://openalex.org/W2148333466","https://openalex.org/W2200229751","https://openalex.org/W2551680314","https://openalex.org/W2562021215","https://openalex.org/W2573063466","https://openalex.org/W2885121946","https://openalex.org/W2947492280","https://openalex.org/W2970362163","https://openalex.org/W3099828420","https://openalex.org/W3161203359","https://openalex.org/W3161995821","https://openalex.org/W3171720758","https://openalex.org/W4200356711","https://openalex.org/W6804968319"],"related_works":["https://openalex.org/W2470525727","https://openalex.org/W2997930045","https://openalex.org/W2484914890","https://openalex.org/W2689970056","https://openalex.org/W2338464925","https://openalex.org/W2031631467","https://openalex.org/W1900598142","https://openalex.org/W2543817182","https://openalex.org/W2326225942","https://openalex.org/W4281846121"],"abstract_inverted_index":{"There":[0],"has":[1],"been":[2],"an":[3,81],"increase":[4],"in":[5],"the":[6,13,33,40,45,48,77,85,97],"variety":[7],"of":[8,15,17,32,36,55,87,99,102],"harvesting":[9,26,60],"manipulators.":[10],"However,":[11],"sometimes":[12],"lack":[14],"efficiency":[16],"these":[18,37],"manipulators":[19,38,61],"makes":[20],"it":[21],"difficult":[22],"to":[23,68,74,79,83],"compete":[24],"with":[25],"tasks":[27],"performed":[28],"by":[29,58],"humans.":[30],"One":[31],"key":[34],"components":[35],"is":[39,67],"end-effector,":[41],"responsible":[42],"for":[43],"picking":[44],"fruits":[46],"from":[47],"plant.":[49],"This":[50],"paper":[51],"studies":[52],"different":[53,100],"types":[54,101],"end-effectors":[56],"used":[57],"some":[59],"and":[62,72],"compares":[63],"them.":[64],"The":[65],"objective":[66],"analyse":[69],"their":[70],"advantages":[71],"limitations":[73],"better":[75],"understand":[76],"requirements":[78],"design":[80],"end-effector":[82],"improve":[84],"performance":[86],"a":[88],"custom":[89],"Selective":[90],"Compliance":[91],"Assembly":[92],"Robot":[93],"Arm":[94],"(SCARA)":[95],"on":[96],"harvest":[98],"fruits.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}