Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation

no code implementations • 8 Jun 2021 • Miguel Fernandes, Antonello Scaldaferri, Giuseppe Fiameni, Tao Teng, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin Caldwell, Fei Chen

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly.

Segmentation Semantic Segmentation

Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation

no code implementations • 22 May 2021 • Tao Teng, Miguel Fernandes, Matteo Gatti, Stefano Poni, Claudio Semini, Darwin Caldwell, Fei Chen

In this paper, we explore a whole-body motion controller of a robot which is composed of a 2-DoFs non-holonomic wheeled mobile base with a 7-DoFs manipulator (non-holonomic wheeled mobile manipulator, NWMM) This robotic platform is designed to efficiently undertake complex grapevine pruning tasks.