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arXiv · 2407.11251

Autonomous Soil Collection in Environments With Heterogeneous Terrain

Andrew Dudash·Beyonce Andrades·Ryan Rubel·Mohammad Goli·Nathan Clark·William Ewald
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Abstract

To autonomously collect soil in uncultivated terrain, robotic arms must distinguish between different amorphous materials and submerge themselves into the correct material. We develop a prototype that collects soil in heterogeneous terrain. If mounted to a mobile robot, it can be used to perform soil collection and analysis without human intervention. Unique among soil sampling robots, we use a general-purpose robotic arm rather than a soil core sampler.

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Andrew Dudash, Beyonce Andrades, Ryan Rubel, Mohammad Goli, Nathan Clark, William Ewald. 2024-07-15. Autonomous Soil Collection in Environments With Heterogeneous Terrain. https://arxiv.org/abs/2407.11251

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