  In this paper, a novel tool prototype for harvesting table-top grown
strawberries is presented. With robustness against strawberry localization
error of 15mm and average cycle time of 8.02 seconds at 50% of maximum
operational velocity, it provides a promising contribution towards full
automation of strawberry harvesting. In addition, the tool has an overall
fruit-interacting width of 35mm that greatly enhances reach-ability due to the
minimal footprint. A complete harvesting system is also proposed that can be
readily mounted to a mobile platform for field tests. An experimental
demonstration is performed to showcase the new methodology and derive relevant
metrics.
