Here is a device that lets you pick apples, peaches, and other tree fruits without having to rely on a ladder. The Ohuhu Fruit Picker has a metal basket and an aluminum telescoping pole. It is 13″ long, so it allows you to reach more fruits without a ladder.
The device is lightweight and does not damage your fruits or trees. Since it is adjustable, you can use it for fruit trees of different heights. More information is available here.