HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers
CoRR(2024)
Abstract
Horticultural tasks such as pruning and selective harvesting are labor
intensive and horticultural staff are hard to find. Automating these tasks is
challenging due to the semi-structured greenhouse workspaces, changing
environmental conditions such as lighting, dense plant growth with many
occlusions, and the need for gentle manipulation of non-rigid plant organs. In
this work, we present the three-armed system HortiBot, with two arms for
manipulation and a third arm as an articulated head for active perception using
stereo cameras. Its perception system detects not only peppers, but also
peduncles and stems in real time, and performs online data association to build
a world model of pepper plants. Collision-aware online trajectory generation
allows all three arms to safely track their respective targets for observation,
grasping, and cutting. We integrated perception and manipulation to perform
selective harvesting of peppers and evaluated the system in lab experiments.
Using active perception coupled with end-effector force torque sensing for
compliant manipulation, HortiBot achieves high success rates.
MoreTranslated text
AI Read Science
Must-Reading Tree
Example
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined