Modular Dual-Arm Robot for Precision Harvesting

  • Eduardo NavasEmail author
  • Roemi Fernández
  • Delia Sepúlveda
  • Manuel Armada
  • Pablo Gonzalez-de-Santos
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1093)


Robotics for selective harvesting is a promising emergent technology for decreasing cost of labour and improving profitability in precision agriculture. In order to contribute to advance the research in this field, this paper addresses the design of a dual-arm harvesting robot. The objective of the design was to achieve a modular torso that can be adapted to different types of plants, thus being able to vary its workspace in order to optimise harvesting. The torso holds a particular dual-arm robot system with 12 DoF, but its adaptability also allows implementing other types of arms. In addition, the torso has a variable z-axis as a support for vision cameras, which can be moved along this axis to improve image acquisition.


Dual-Arm robot system Harvesting robot Torso Modularity and adaptability 



The research leading to these results has received funding from:

(i) FEDER/Ministerio de Ciencia, Innovación y Universidades – Agencia Estatal de Investigación/Proyecto ROBOCROP (DPI2017-84253-C2-1-R).

(ii) RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by “Programas de Actividades I+D en la Comunidad de Madrid” and cofunded by Structural Funds of the EU.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Eduardo Navas
    • 1
    Email author
  • Roemi Fernández
    • 1
  • Delia Sepúlveda
    • 1
  • Manuel Armada
    • 1
  • Pablo Gonzalez-de-Santos
    • 1
  1. 1.Centre for Automation and Robotics (UPM-CSIC)Spanish National Research CouncilArganda del ReySpain

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