Work

Perception-Driven Shared Control Architecture for Agricultural Robots Performing Harvesting Tasks

Year: 2024

Type: conference-paper

Abstract: This paper introduces a shared control framework designed specifically for agricultural mobile manipulators engaged in harvesting operations. The shared control strategy allows for achieving such operations by dynamically exchanging the control between the robotic system and a human operator depending on the uncertainty in the environment perception. For this purpose, the robot’s behavior is dynamically adapted to switch between two control modes with a different level of autonomy of the robot. The level of autonomy is encoded in two different admittance behaviors which are included in a first-order Hierarchical Quadratic Programming (HQP) control framework, that allows the robot to simultaneously address other control objectives at the same time. Experimental results with a dual-arm mobile robot, developed as part of the EU-funded CANOPIES project, demonstrate the effectiveness of the proposed method in real conditions.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros58592.2024.10802454

Authors: Jozsef Palmieri, Paolo Di Lillo, Alberto Sanfeliu, Alessandro Marino

Institutions: Università degli studi di Cassino e del Lazio Meridionale, Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Horizon 2020 Framework Programme

Award: G6772135404