Fruit and vegetable harvesting robots have been widely studied and developed in recent years to reduce the cost of harvesting tasks such as labor and time. However, harvesting robots have many challenges due to the difficulty and uncertainty of task. In this paper, we characterize the crop environment related to the harvesting robot and analyzes state-of-the-art of the harvesting robot especially, in the viewpoint of robotic end-effector. The end-effector, an one of most important element of the harvesting robot, was classified into gripper and harvesting module, which were reviewed in more detail. Performance measures for the evaluation of harvesting robot such as test, detachment success, harvest success, and cycle time were also introduced. Furthermore, we discuss the current limitations of the harvesting robot and challenges and directions for future research.

Abstract
1. 서 론
2. 재배 환경
3. 평가지표
4. 엔드이펙터
    4.1 그리퍼
    4.2 수확모듈
5. 고찰 및 도전과제
    5.1 한계
    5.2 평가지표
    5.3 다중 수확로봇
6. 결 론
References

• 설재휘(Department of Rural and Biosystems Engineering, Chonnam National University) | Jaehwi Seol
• 이세창(Department of Rural and Biosystems Engineering, Chonnam National University) | Sechang Lee
• 손형일(Department of Rural and Biosystems Engineering, Chonnam National University) | Hyoung Il Son Corresponding author