KOALA: A Modular Dual-Arm Robot for Automated Precision Pruning Equipped with Cross-Functionality Sensor Fusion Article Swipe
C. S. Vikram
,
Sidharth Jeyabal
,
Prithvi Krishna Chittoor
,
Sathian Pookkuttath
,
Mohan Rajesh Elara
,
You Wang
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/agriculture14101852
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/agriculture14101852
Landscape maintenance is essential for ensuring agricultural productivity, promoting sustainable land use, and preserving soil and ecosystem health. Pruning is a labor-intensive task among landscaping applications that often involves repetitive pruning operations. To address these limitations, this paper presents the development of a dual-arm holonomic robot (called the KOALA robot) for precision plant pruning. The robot utilizes a cross-functionality sensor fusion approach, combining light detection and ranging (LiDAR) sensor and depth camera data for plant recognition and isolating the data points that require pruning. The You Only Look Once v8 (YOLOv8) object detection model powers the plant detection algorithm, achieving a 98.5% pruning plant detection rate and a 95% pruning accuracy using camera, depth sensor, and LiDAR data. The fused data allows the robot to identify the target boxwood plants, assess the density of the pruning area, and optimize the pruning path. The robot operates at a pruning speed of 10–50 cm/s and has a maximum robot travel speed of 0.5 m/s, with the ability to perform up to 4 h of pruning. The robot’s base can lift 400 kg, ensuring stability and versatility for multiple applications. The findings demonstrate the robot’s potential to significantly enhance efficiency, reduce labor requirements, and improve landscape maintenance precision compared to those of traditional manual methods. This paves the way for further advancements in automating repetitive tasks within landscaping applications.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/agriculture14101852
- OA Status
- gold
- Cited By
- 6
- References
- 34
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4403603651
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4403603651Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3390/agriculture14101852Digital Object Identifier
- Title
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KOALA: A Modular Dual-Arm Robot for Automated Precision Pruning Equipped with Cross-Functionality Sensor FusionWork title
- Type
-
articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2024Year of publication
- Publication date
-
2024-10-21Full publication date if available
- Authors
-
C. S. Vikram, Sidharth Jeyabal, Prithvi Krishna Chittoor, Sathian Pookkuttath, Mohan Rajesh Elara, You WangList of authors in order
- Landing page
-
https://doi.org/10.3390/agriculture14101852Publisher landing page
- Open access
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YesWhether a free full text is available
- OA status
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goldOpen access status per OpenAlex
- OA URL
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https://doi.org/10.3390/agriculture14101852Direct OA link when available
- Concepts
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Modular design, Robotic arm, Pruning, Robot, Dual (grammatical number), Sensor fusion, Computer science, Fusion, Artificial intelligence, Biology, Operating system, Horticulture, Linguistics, Philosophy, Literature, ArtTop concepts (fields/topics) attached by OpenAlex
- Cited by
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6Total citation count in OpenAlex
- Citations by year (recent)
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2025: 6Per-year citation counts (last 5 years)
- References (count)
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34Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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| publication_date | 2024-10-21 |
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