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We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide…
The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat…
Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…
Automatic classification of trees using remotely sensed data has been a dream of many scientists and land use managers. Recently, Unmanned aerial vehicles (UAV) has been expected to be an easy-to-use, cost-effective tool for remote sensing…
Precision agriculture leverages data and machine learning so that farmers can monitor their crops and target interventions precisely. This enables the precision application of herbicide only to weeds, or the precision application of…
In grasp detection, the robot estimates the position and orientation of potential grasp configurations directly from sensor data. This paper explores the relationship between viewpoint and grasp detection performance. Specifically, we…
Selective harvesting by autonomous robots will be a critical enabling technology for future farming. Increases in inflation and shortages of skilled labour are driving factors that can help encourage user acceptability of robotic…
Automated segmentation of individual leaves of a plant in an image is a prerequisite to measure more complex phenotypic traits in high-throughput phenotyping. Applying state-of-the-art machine learning approaches to tackle leaf instance…
Terrestrial laser scanner is a kind of fast, high-precision data acquisition device, which had been more and more applied to the research areas of forest inventory. In this study, a kind of automated low-cost terrestrial laser scanner was…
Most existing 6-DoF robot grasping solutions depend on strong supervision on grasp pose to ensure satisfactory performance, which could be laborious and impractical when the robot works in some restricted area. To this end, we propose a…
Robot manipulation and grasping mechanisms have received considerable attention in the recent past, leading to the development of wide range of industrial applications. This paper proposes the development of an autonomous robotic grasping…
The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic…
Selective weeding is one of the key challenges in the field of agriculture robotics. To accomplish this task, a farm robot should be able to accurately detect plants and to distinguish them between crop and weeds. Most of the promising…
Applying agrochemicals is the default procedure for conventional weed control in crop production, but has negative impacts on the environment. Robots have the potential to treat every plant in the field individually and thus can reduce the…
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…
Automatic plant recognition and disease analysis may be streamlined by an image of a complete, isolated leaf as an initial input. Segmenting leaves from natural images is a hard problem. Cluttered and complex backgrounds: often composed of…
Plants need regular and the appropriate amount of watering to thrive and survive. While agricultural robots exist that can spray water on plants and crops such as the , they are expensive and have limited mobility and/or functionality. We…
Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information difficult. We present a novel viewpoint planning approach that…