{"id":"https://openalex.org/W4200165682","doi":"https://doi.org/10.1109/iros51168.2021.9636341","title":"Towards Intelligent Fruit Picking with In-hand Sensing","display_name":"Towards Intelligent Fruit Picking with In-hand Sensing","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200165682","doi":"https://doi.org/10.1109/iros51168.2021.9636341"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636341","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5048784268","display_name":"Lisa M. Dischinger","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lisa M. Dischinger","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024361960","display_name":"Miranda Cravetz","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miranda Cravetz","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042845220","display_name":"Jacob Dawes","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Dawes","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Oregon State University, Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016315479","display_name":"Callen Votzke","orcid":"https://orcid.org/0000-0001-6326-3471"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Callen Votzke","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA","School of Electrical Engineering and Computer Science, Oregon State University, Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036047898","display_name":"Chelse VanAtter","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chelse VanAtter","raw_affiliation_strings":["Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008769831","display_name":"Matthew L. Johnston","orcid":"https://orcid.org/0000-0001-8472-9437"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew L. Johnston","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Oregon State University, Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054189045","display_name":"Cindy Grimm","orcid":"https://orcid.org/0000-0002-1711-7112"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cindy M. Grimm","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052981407","display_name":"Joseph R. Davidson","orcid":"https://orcid.org/0000-0003-4388-2210"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph R. Davidson","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.6514,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.97462182,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3285","last_page":"3291"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9991000294685364,"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":0.9991000294685364,"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/T12452","display_name":"Electrowetting and Microfluidic Technologies","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.978600025177002,"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/computer-science","display_name":"Computer science","score":0.6362237930297852},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5937516689300537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5872030854225159},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.5302485823631287},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4951840937137604},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.48538148403167725},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.47645214200019836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47096922993659973},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.45992833375930786},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4468199908733368},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35219264030456543},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22997012734413147},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.16528508067131042},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12167492508888245}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6362237930297852},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5937516689300537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5872030854225159},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.5302485823631287},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4951840937137604},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.48538148403167725},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.47645214200019836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47096922993659973},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.45992833375930786},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4468199908733368},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35219264030456543},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22997012734413147},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.16528508067131042},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12167492508888245},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636341","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306114","display_name":"U.S. Department of Agriculture","ror":"https://ror.org/01na82s61"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1525717033","https://openalex.org/W1533483954","https://openalex.org/W1583128514","https://openalex.org/W1925668245","https://openalex.org/W1986235237","https://openalex.org/W2014558536","https://openalex.org/W2048058874","https://openalex.org/W2071390953","https://openalex.org/W2114628570","https://openalex.org/W2125188427","https://openalex.org/W2134901302","https://openalex.org/W2138753567","https://openalex.org/W2155337985","https://openalex.org/W2298136181","https://openalex.org/W2501369945","https://openalex.org/W2506469762","https://openalex.org/W2591199897","https://openalex.org/W2592618160","https://openalex.org/W2608799977","https://openalex.org/W2776899293","https://openalex.org/W2963037989","https://openalex.org/W6628973269","https://openalex.org/W6631591799","https://openalex.org/W6634811385"],"related_works":["https://openalex.org/W2913189039","https://openalex.org/W613097443","https://openalex.org/W2888778368","https://openalex.org/W1889691171","https://openalex.org/W4236890452","https://openalex.org/W2484273923","https://openalex.org/W1991400806","https://openalex.org/W1717190054","https://openalex.org/W4205284030","https://openalex.org/W1554541441"],"abstract_inverted_index":{"Studies":[0],"have":[1,129],"shown":[2],"that":[3,67],"picking":[4,22,87,118,160],"techniques":[5],"play":[6],"an":[7],"important":[8],"role":[9],"in":[10],"determining":[11],"fruit":[12,23,41,72,86,117,174,176,182],"quality":[13],"at":[14],"harvest":[15],"(e.g.":[16],"bruising,":[17],"stem":[18,43],"retention,":[19],"etc).":[20],"When":[21],"such":[24],"as":[25,93,153,155],"apples":[26],"and":[27,37,45,55,69,124,181],"pears,":[28],"professional":[29],"pickers":[30],"use":[31],"active":[32],"perception,":[33],"incorporating":[34],"both":[35],"visual":[36,98],"tactile":[38,139],"input":[39],"about":[40],"orientation,":[42],"location,":[44],"the":[46,74,81,90,142,147,151,179,185],"fruit\u2019s":[47],"immediate":[48],"surroundings.":[49],"This":[50,144],"combination":[51],"of":[52,80,150],"tactile,":[53],"visual,":[54],"force":[56],"feedback":[57,99,106],"is":[58],"what":[59],"enables":[60],"human":[61],"workers":[62],"to":[63],"execute":[64],"dynamic":[65],"movements":[66],"quickly":[68],"efficiently":[70],"remove":[71],"from":[73,157,178,184],"tree":[75],"without":[76],"damage.":[77],"However,":[78],"much":[79],"prior":[82],"work":[83],"on":[84,107,141],"robotic":[85],"has":[88],"formulated":[89],"harvesting":[91],"problem":[92],"a":[94,111,131,163],"position-control":[95],"problem,":[96],"using":[97],"for":[100],"closed-loop":[101],"end-effector":[102,133],"placement":[103],"while":[104],"disregarding":[105],"physical":[108],"contact.":[109],"As":[110],"first":[112],"step":[113],"towards":[114],"more":[115],"intelligent":[116],"\u2014":[119,127],"combining":[120],"proprioception,":[121],"localized":[122],"sensing,":[123,173],"observed":[125],"forces":[126],"we":[128],"developed":[130],"custom":[132],"with":[134,162,171],"multiple":[135,158],"in-hand":[136],"sensors,":[137],"including":[138],"sensors":[140],"fingertips.":[143],"paper":[145],"presents":[146],"mechatronic":[148],"design":[149],"device":[152],"well":[154],"results":[156,168],"outdoor":[159],"trials":[161],"Honeycrisp":[164],"apple":[165],"tree.":[166],"Preliminary":[167],"show":[169],"that,":[170],"multi-modal":[172],"slip,":[175],"separation":[177],"tree,":[180],"release":[183],"hand":[186],"can":[187],"be":[188],"detected.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}