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How Well Do Pseudo-Rigid Body Models Capture Real Plants? In-Field Validation of Simulated Blueberry Canes

arXiv · AI, language, vision and robotics · article · Sep 12, 2026 · UTC

Many labor-intensive tasks in fruit production such as pruning require physically interacting with the plant (e.g., pushing, pulling, bending limbs, etc.). Due to increasing labor shortages, there is widespread interest in the adoption of robotics in this area. When the robot must physically interact with the system, a deformable model of the plant is beneficial. Coupled, spring-loaded beams have been used in prior work to build deformable plant models in simulation for learning, planning, and control, but this approach has rarely been validated against the mechanical properties of real-world

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