This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labour costs, and minimise food waste by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning and control. The paper also discusses the potential benefits of integrating AI and soft robots and data-driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.

翻译：本文综述了选择性收获机器人（SHRs）的最新发展现状及其应对全球粮食生产挑战的潜力。SHRs通过仅选择性采收成熟果蔬，有望提升生产效率、降低劳动力成本并减少食物浪费。论文详细阐述了SHRs的核心组成部分，包括感知、抓取、切割、运动规划与控制。同时，重点分析了机器人设计、运动规划与控制等领域的技术开发难点。文中探讨了融合人工智能、软体机器人及数据驱动方法对增强SHR系统性能与鲁棒性的潜在优势。最后，本文指出了该领域的若干开放研究问题，并强调需进一步开展研发工作以推动SHR技术突破全球粮食生产挑战。总体而言，本文为从事SHR开发的研究人员与实践者提供了研究起点，并揭示了该领域深化研究的迫切需求。