Author name cluster

Khaled Elgeneidy

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

5 papers

1 author row

IROS Conference 2025 Conference Paper

A Strawberry Harvesting Tool with Minimal Footprint

Mohamed Sorour
Mohamed Heshmat
Khaled Elgeneidy
Pål Johan From

In this paper, a novel prototype for harvesting table-top grown strawberries is presented, that is minimalist in its footprint interacting with the fruit. In our methodology, a smooth trapper manipulates the stem into a precise groove location at which a distant laser beam is focused. The tool reaches temperatures as high as 188 ° Celsius and as such killing germs and preventing the spread of local plant diseases. The burnt stem wound preserves water content and in turn the fruit shelf life. Cycle and cut times achieved are 5. 56 and 2. 88 seconds respectively in successful in-door harvesting demonstration. Extensive experiments are performed to optimize the laser spot diameter and lateral speed against the cutting time.

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IROS Conference 2022 Conference Paper

Compact Strawberry Harvesting Tube Employing Laser Cutter

Mohamed Sorour
Pål Johan From
Khaled Elgeneidy
Stratis Kanarachos
Mohamed Sallam

In this paper, a novel prototype for hanging produce harvesting is presented, that is productive, versatile, and robust. In our methodology, the robot-mounted tube approaches, and eventually surrounds the produce of interest at the entry side, that can be as small as the produce diameter, plus a small margin. The stem is then cut by a laser beam, with the optics set up for a distant focal point. Such arrangement allows for minimal hardware at the produce-entry side and in turn, the interaction, and possible disturbance to the local environment. This is essential for fruit reachability and avoiding it dislocation. Experiments has been conducted to drive the laser power to time of cut relation, as well as successful demonstration to sample harvest strawberry.

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ICRA Conference 2020 Conference Paper

Enhancing Grasp Pose Computation in Gripper Workspace Spheres

Mohamed Sorour
Khaled Elgeneidy
Marc Hanheide
M. Abdalmjed
A. Srinivasan
Gerhard Neumann

In this paper, enhancement to the novel grasp planning algorithm based on gripper workspace spheres is presented. Our development requires a registered point cloud of the target from different views, assuming no prior knowledge of the object, nor any of its properties. This work features a new set of metrics for grasp pose candidates evaluation, as well as exploring the impact of high object sampling on grasp success rates. In addition to gripper position sampling, we now perform orientation sampling about the x, y, and z-axes, hence the grasping algorithm no longer require object orientation estimation. Successful experiments have been conducted on a simple jaw gripper (Franka Panda gripper) as well as a complex, high Degree of Freedom (DoF) hand (Allegro hand) as a proof of its versatility. Higher grasp success rates of 76% and 85. 5% respectively has been reported by real world experiments.

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IROS Conference 2019 Conference Paper

Grasping Unknown Objects Based on Gripper Workspace Spheres

Mohamed Sorour
Khaled Elgeneidy
Aravinda Srinivasan
Marc Hanheide
Gerhard Neumann

In this paper, we present a novel grasp planning algorithm for unknown objects given a registered point cloud of the target from different views. The proposed methodology requires no prior knowledge of the object, nor offline learning. In our approach, the gripper kinematic model is used to generate a point cloud of each finger workspace, which is then filled with spheres. At run-time, first the object is segmented, its major axis is computed, in a plane perpendicular to which, the main grasping action is constrained. The object is then uniformly sampled and scanned for various gripper poses that assure at least one object point is located in the workspace of each finger. In addition, collision checks with the object or the table are performed using computationally inexpensive gripper shape approximation. Our methodology is both time efficient (consumes less than 1. 5 seconds in average) and versatile. Successful experiments have been conducted on a simple jaw gripper (Franka Panda gripper) as well as a complex, high Degree of Freedom (DoF) hand (Allegro hand).

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IROS Conference 2018 Conference Paper

Contact Detection and Size Estimation Using a Modular Soft Gripper with Embedded Flex Sensors

Khaled Elgeneidy
Gerhard Neumann
Simon Pearson
Michael R. Jackson
Niels Lohse

Grippers made from soft elastomers are able to passively and gently adapt to their targets allowing deformable objects to be grasped safely without causing bruise or damage. However, it is difficult to regulate the contact forces due to the lack of contact feedback for such grippers. In this paper, a modular soft gripper is presented utilizing interchangeable soft pneumatic actuators with embedded flex sensors as fingers of the gripper. The fingers can be assembled in different configurations using 3D printed connectors. The paper investigates the potential of utilizing the simple sensory feedback from the flex and pressure sensors to make additional meaningful inferences regarding the contact state and grasped object size. We study the effect of the grasped object size and contact type on the combined feedback from the embedded flex sensors of opposing fingers. Our results show that a simple linear relationship exists between the grasped object size and the final flex sensor reading at fixed input conditions, despite the variation in object weight and contact type. Additionally, by simply monitoring the time series response from the flex sensor, contact can be detected by comparing the response to the known free-bending response at the same input conditions. Furthermore, by utilizing the measured internal pressure supplied to the soft fingers, it is possible to distinguish between power and pinch grasps, as the contact type affects the rate of change in the flex sensor readings against the internal pressure.

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