Abstract: In general terms, the present invention provides a storage system for a fruit or vegetable picking system, in which picked fruit or vegetables are delivered to a fixed filling location of the storage system, and then moved, by a robotic handling mechanism of the storage system, to one of many container locations where filled containers (punnets) are temporarily stored.

Abstract: In general terms a first aspect of the invention provides a modular robotic arm in which respective joint modules and/or end effector modules can be swapped or exchanged for a replacement module. The modules are interconnected by pairs of interlocking features that can be readily and repeatably interlocked and separated.

Abstract: In general terms, the present invention provides a passively compliant robotic arm having one or more variable stiffness joints controllable by first and second bi-directional actuators that can be independently operated. Each bi-directional actuator may be operable in a first configuration to urge the joint in a first direction, and in a second configuration to urge the joint in a second direction opposite to the first direction. The bi-directional actuators may be operated in a cooperating mode (high torque mode) in which they work in tandem (i.e. both in the first configuration or second configuration) to double the available torque output. The bi-directional actuators may also (or alternatively) be operated in a high stiffness mode (antagonist mode) in which they counter-act each other by operating so that they oppose one another (i.e. one in the first configuration and the other in the second configuration).