Introduction
motivation
reduce the cost of food production in the organic agriculture using robots instead of pesticides and expensive, tedious manual labour
The SpECULARIA project proposes a heterogeneous team of robots for small indoor organic farms. One of its crucial components is a robotic manipulator capable of treating plants. The manipulator is designed following the soft robotics paradigm, able to autonomously conduct plant treatment procedures like pinching, topping or removing excess flowers.
UAV plays a surveillance role, detecting and deciding which plants need treatment. The plants are grown in container unit. The UGV transports the plants to the workstation, where a robot manipulator treats the plants under controlled conditions. As a labour intensive activity performed several times in the season, harvesting is a perfect candidate for automation.
contributions
sweet pepper 6DOF pose
RGB-D
deep learning
geometric model fitting
harvesting state machine
manipulator control in structured greenhouse harvesting mission
trajectory VS servo
experimental validation
perception method
sim2real
transfer learning
closed loop manipulator motion control
grasping using Franka Emika
Intel RealSense D435 camera