Authors: Junchen Deng, Samhita Marri, Jonathan Klein, Wojtek Pałubicki, Sören Pirk, Girish Chowdhary, Dominik L. Michels

Published on: February 04, 2024

Impact Score: 8.15

Arxiv code: Arxiv:2402.0257

Summary

• What is new: A plugin for the Gazebo simulation platform that uses Cosserat rods to accurately model plant motion, allowing for improved robotic harvesting simulations.
• Why this is important: The inability of existing physics engines to effectively model non-rigid objects like plants hinders progress in agricultural robotics.
• What the research proposes: Introducing a specialized plugin for Gazebo that simulates plant motion and interaction, facilitating more realistic robotic harvesting experiments.
• Results: Achievement of harvesting simulations in Gazebo with a robotic arm that mirrors real-world experiments in terms of effectiveness.

Technical Details

Technological frameworks used: Gazebo simulation platform

Models used: Cosserat rods for plant motion modeling

Data used: Synthetic data generated within Gazebo for training purposes

Potential Impact

Agriculture sector, robotics manufacturers, companies specializing in agricultural automation technology

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