Abstract: The harvester provides a self-propelled or towed base (2) on which a telescoping tower (3) is mounted on a gimbal (7), allowing angular flexibility of the tower relative to the base. The tower resists swaying movement by the stabilizing effects of hydraulic cylinders (34) that are connected to electrically-operated hydraulic control valves, e.g. servo valves, controlled by a programmable logic controller or the like, which receives input from two inclinometers (5). An extendable multi-jointed boom (8) is mounted at or near the upper end of the tower. Mounted at the distal end of the boom is a cut fruit holding basket (11) and a funnel (12) with a chute (13), mounted to a common platform (4) that pivots to provide access to all sides of a tree. Collected fruit may be discharged periodically into a collection bin, for example when the platform is at least partially lowered to move the base and tower from location to location.