Design and Development of a Quadruped Robot for Precision Agriculture Applications

摘要

In anticipation to prevail over the confrontations of the growing population globally, the persistent growth in developing advanced precision agricultural robotic systems is in substantial prerequisite. In this sense, this paper discusses the development of a quadruped robot based on Jansen mechanism design, actuated for navigation on unknown terrains such as slippery, sloppy, uneven, and turf environments. As modeling plays a major role in realizing the system, a CAD model is drafted along with the simulation in ROS, RVIZ, and MoveIt platforms. Applications of these bioinspired robots are also discussed in specific to agricultural practices and their relevance in assisting conventional practices. This quadruped robot manoeuvre in very difficult locations by manipulating the patterns in gaits and helps grasp various fruits and vegetables if embedded with an additional arm placed on the chassis of the quadruped turning it into a hybrid robot.