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dc.contributor.author
Jelavic, Edo
dc.contributor.author
Kapgen, Tun
dc.contributor.author
Kerscher, Simon
dc.contributor.author
Jud, Dominic
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2022-09-22T08:11:23Z
dc.date.available
2022-05-31T15:15:43Z
dc.date.available
2022-06-01T04:59:11Z
dc.date.available
2022-06-02T10:17:45Z
dc.date.available
2022-09-05T14:53:36Z
dc.date.available
2022-09-06T04:40:22Z
dc.date.available
2022-09-22T08:11:23Z
dc.date.issued
2022-05-23
dc.identifier.uri
http://hdl.handle.net/20.500.11850/549974
dc.identifier.doi
10.3929/ethz-b-000549974
dc.description.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.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
ETH Zurich, Institute of Robotics and Intelligent Systems
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
forestry
en_US
dc.subject
robotics
en_US
dc.subject
harvester
en_US
dc.subject
teleoperation
en_US
dc.subject
autonomy
en_US
dc.title
Harveri : A Small (Semi-)Autonomous Precision Tree Harvester
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
5 p. accepted version; 5 p. updated version
en_US
ethz.version.deposit
updatedVersion
en_US
ethz.event
Innovation in Forestry Robotics: Research and Industry Adoption, ICRA 2022 IFRRIA Workshop
en_US
ethz.event.location
Philadelphia, PA, USA
en_US
ethz.event.date
May 23, 2022
en_US
ethz.grant
NCCR Digital Fabrication
en_US
ethz.grant
Learning Mobility for Real Legged Robots
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.tag
RSL; forestry; robotics; harvester; teleoperation; autonomy
en_US
ethz.grant.agreementno
205604
ethz.grant.agreementno
852044
ethz.grant.fundername
SNF
ethz.grant.fundername
EC
ethz.grant.funderDoi
10.13039/501100001711
ethz.grant.funderDoi
10.13039/501100000780
ethz.grant.program
NCCR full proposal
ethz.grant.program
H2020
ethz.relation.isPartOf
https://openreview.net/forum?id=BOdgBn6OQM5
ethz.date.deposited
2022-05-31T15:15:52Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2022-06-01T04:59:21Z
ethz.rosetta.lastUpdated
2025-02-14T03:03:32Z
ethz.rosetta.versionExported
true
ethz.COinS
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