Studies on harvesting robots with manipulator were started with the tomato fruit harvesting robot since 30 years ago by Prof. Kawamura, Kyoto University [1]. The robot consisted of a 5 DOF manipulator, a harvesting end-effector, a color TV camera which was used for stereo vision, and a battery car for traveling in the ridges as shown in Figure 1. Following the harvesting robot, the robotic technologies were applied to cherry tomato, strawberry, cucumber, eggplant, cabbage mushroom, orange, apple, grape melon, watermelon, asparagus and etc. The components of the first harvesting robot were not so big different from current harvesting robots under development at universities and research institutes.