Three-dimension object detection and forward-looking control strategy for non-destructive grasp of thin-skinned fruits

Xiaoyan Chen, Yilin Sun, Qiuju Zhang, Xuesong Dai, Shen Tian, Yongxin Guo

Abstract: Highlights•A multi-modal depth fusion convolution neural network is constructed to obtain the information of classification and instance segmentation.•An evaluation mechanism of the optimal grasping stability based on the hybrid method of the best configuration and force closure is established to form the comprehensive performance optimal configuration planning method.•A forward-looking non-destructive grasping control algorithm based on minimum grasping force is proposed to achieve dynamic non-destructive grasping of thin-skinned fruits.