Fig. 1: The concept and implementation of using a sensorized physical twin for the development and Lab2Field transfer of a raspberry harvesting robot.
From: Lab2Field transfer of a robotic raspberry harvester enabled by a soft sensorized physical twin
a–c Describes the concept while d–f describe the specific implementation of developing a raspberry harvesting robot using a physical twin. a The human performs the action we wish the robot to perform on the physical twin to obtain a reference signal and enough insight to design a controller. b Using the designed controller, the robot is tested against the physical twin. The human reference is used to tune the controller parameters. c The tuned controller is used to deploy the robot into the field to perform the desired action on the real crop. d Realization of (a) using the physical twin of the raspberry. The human harvests the fruit. e Realization of (b), the harvesting robot is developed and tuned using the physical twin. f Realization of (c), the harvesting robot is deployed in the field to harvest real raspberries.
