Harveri : A Small (Semi-)Autonomous Precision Tree Harvester
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Author / Producer
Date
2022-05-23
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
This article presents the development of a small
harvester (Harveri) targeted for thinning operations and energy
tree harvesting. We are interested in two possible use cases:
teleoperation by a human and fully autonomous operation.
We introduce Harveri itself, together with the hardware mod-
ifications made to facilitate the automation of the machine.
Furthermore, we describe the sensors used and the rationale
behind each sensor choice and physical placement on the
machine. The article also discusses computation units used to
achieve the teleoperation and autonomy task and connectivity
to the machine. Most of the autonomy features are ported from
our previous work on HEAP, and in this article, we describe
the modifications necessary for Harveri. We present the current
automation progress and give directions for future work.
Permanent link
Publication status
published
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Book title
Journal / series
Volume
Pages / Article No.
Publisher
ETH Zurich, Institute of Robotics and Intelligent Systems
Event
Innovation in Forestry Robotics: Research and Industry Adoption, ICRA 2022 IFRRIA Workshop
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
forestry; robotics; harvester; teleoperation; autonomy
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
Notes
Funding
205604 - NCCR Digital Fabrication: Innovative Building Processes in Architecture (phase III) (SNF)
852044 - Learning Mobility for Real Legged Robots (EC)
852044 - Learning Mobility for Real Legged Robots (EC)
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Is part of: https://openreview.net/forum?id=BOdgBn6OQM5