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Autonomous phenotyping using a mobile manipulator

Abstract : This paper presents the use of a mobile manipulator, a robotic arm translating on a guide, to achieve autonomous data acquisition on crops in a field. The redundancy imposed by this platform is managed using a collection of concurrent control laws, weighted in real time to increase the end-effector workspace, and optimize the point of view for data acquisition. This opens the way to full mobile manipulation using an autonomous robot holding the system.
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Conference papers
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https://hal.inrae.fr/hal-02609302
Contributor : Migration Irstea Publications <>
Submitted on : Saturday, May 16, 2020 - 5:36:00 PM
Last modification on : Wednesday, September 8, 2021 - 3:39:44 AM

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  • HAL Id : hal-02609302, version 1
  • IRSTEA : PUB00061343

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Citation

C. Dubos, R. Lenain, M. Berducat, Frédéric Cointault. Autonomous phenotyping using a mobile manipulator. 6th International Conference on Machine Control an Guidance (MCG2018), Oct 2018, Berlin, Germany. pp.27-34. ⟨hal-02609302⟩

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