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CLASP: A Cluster-Level Autonomous Selective Picking Robot with a Soft Rolling-Band Gripper for Fresh-Market Blueberry Harvesting

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Fresh-market blueberries require selective, gentle picking, which is labor-intensive and expensive. Over-the-row machine harvesters are fast but non-selective, bruising mixed-ripeness fruit and limiting yield to the processing market. Selective robotic harvesters typically target individual fruits rather than fruit clusters, which limits harvesting efficiency for small, densely clustered blueberries. This paper presents CLASP, a Cluster-Level Autonomous Selective Picking robot with a Soft Active Rolling-Band Gripper (SARB-Gripper). Two compliant bands envelop the cluster and roll against the f

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