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This video shows robotic harvesting of sweet-pepper fruits in a commercial Dutch greenhouse in June 2014. Two different types of end-effectors were designed and tested, this video shows the robot with the “Fin-Ray gripper”. This gripper features a combined grip and cut mechanism. It first grips the fruit and after that the peduncle of the fruit is cut. The end-effector has a miniature RGB and a Time of Flight (ToF) camera for refining the fruit position and to determine the fruit pose. The base of the robot consists out of two carrier modules. On the first, the specifically for this project developed manipulator (nine degrees-of-freedom), the control electronics and the computers are located. On the sensor carrier module two 5 megapixel colour cameras (small baseline stereo setup) and a ToF camera are installed. Around the sensors, a light grid is placed to illuminate the scene. The sensor system is mounted on a linear motorized slide and can be horizontally moved in and out of the workspace of the manipulator. Machine vision software localises ripe fruits and obstacles in 3D. This robot demonstrator is one of the results of the EU project CROPS, Clever Robots for Crops. For more information visit www.crops-robots.eu. Authors: Jochen Hemming (jochen.hemming@wur.nl), Wouter Bac, Bart van Tuijl, Ruud Barth, Ehud Wais, Eldert van Henten, Jan Bontsema, Erik Pekkeriet. Wageningen University and Research Centre, Droevendaalsesteeg 1, 6708 PB, Wageningen, The Netherlands