Tomato Harvester Robot

A custom 4-DOF robot arm that uses stereo vision and analytic inverse kinematics to locate cherry tomatoes and pick them with a vacuum end effector.

Robotics Computer Vision ROS 2 Python

Destination and journey

Demo

The current system picking cherry tomatoes.

System Overview

A working prototype that combines a compact 4-DOF arm, a stereo-vision perception pipeline, closed-form inverse kinematics, and a vacuum (shop-vac) end effector.

The arm, stereo pair, and vacuum end effector.
The same head mounted on the elevator carriage.

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Last Updated: August 30, 2026