Research
Research
Research
Research
12+ open-access research outputs.
Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy robot manipulators moun…
This study presents a methodology to safely manipulate branches to aid various agricultural tasks. Humans in a real agricultural environment often manipulate branches to perform agricultural tasks eff…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop …
Robotic pruning of dormant grapevines is an area of active research in order to promote vine balance and grape quality, but so far robotic efforts have largely focused on planar, simplified vines not …
Autonomous agriculture applications (e.g., inspection, phenotyping, plucking fruits) require manipulating the plant foliage to look behind the leaves and the branches. Partial visibility, extreme clut…
We propose to use a simulation driven inverse inference approach to model the dynamics of tree branches under manipulation. Learning branch dynamics and gaining the ability to manipulate deformable ve…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings…
The fields of soft and bio-inspired robotics promise to imbue synthetic systems with capabilities found in the natural world. However, many of these biological capabilities are yet to be realized. For…
Dormant season grapevine pruning requires skilled seasonal workers during the winter season which are becoming less available. As workers hasten to prune more vines in less time amid to the short-term…
Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches are moving. Moreover, …
We propose a novel, canopy density estimation solution using a 3D ray cloud representation for perennial horticultural crops at the field scale. To attain high spatial and temporal fidelity in field c…
This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging sinc…
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