Stability Constrained Mobile Manipulation Planning on Rough Terrain

Song, Jiazhi; Sharf, Inna

doi:10.48550/arxiv.2105.04396

Cited by 1 publication

(1 citation statement)

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“…To minimize the automation effort, [Morales et al, 2011;Ortiz Morales et al, 2014] investigate possibilities for purely open-loop control. More recently, an attempt has been made to develop arm motion planning for a feller-buncher machine [Song and Sharf, 2020], [Song and Sharf, 2021]. The authors rely on Zero Moment Point (ZMP) to compute a stable trajectory guaranteeing the machine's (tipping over) stability.…”

Section: Related Workmentioning

confidence: 99%

Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester

Jelavić¹,

Jud²,

Egli³

et al. 2022

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This paper presents a system for autonomously conducting precision harvesting missions using a legged harvester. Precision tree harvesting removes some trees selectively, while leaving neighboring trees intact. Our robot performs the challenging task of navigation and tree grabbing in a confined, GPS-denied forest environment. We propose strategies for mapping, localization, planning, and control and integrate them into a fully autonomous system. The mission starts with a human mapping the area of interest using a detachable, custom sensor module. Subsequently, a human expert selects the specific trees for harvesting. The sensor module is then mounted on the machine and used for localization within the created map. A planning algorithm searches for both an approach-pose and a path in a single path planning problem. We design a path-following controller exploiting the legged harvester’s capabilities for negotiating rough terrain. Upon reaching the approach-pose, the machine grabs a tree with a general-purpose gripper. Our system has been tested in both emulated and natural forest settings. To the best of our knowledge, ours is the first robot to demonstrate such a level of autonomy on a full-size, hydraulic machine operating in a realistic environment.

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