发表机构
Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University; Department of Horticulture, Oregon State University（俄勒冈州立大学协作机器人与智能系统（CoRIS）研究所; 俄勒冈州立大学园艺系）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文利用基于真实材料属性和梁弯曲理论的伪刚体模型，在MuJoCo中模拟蓝莓枝条变形，并通过田间实测数据验证，发现模型对直径和弯曲模量敏感，同时公开了包含RGB-D图像和力位移的数据集。
AI 中文摘要
水果生产中许多劳动密集型任务（如修剪）需要与植物进行物理交互（例如，推、拉、弯曲枝条等）。由于劳动力短缺日益严重，人们普遍对在这一领域采用机器人技术感兴趣。当机器人必须与系统进行物理交互时，植物的可变形模型是有益的。先前的工作中，耦合的弹簧加载梁已被用于在仿真中构建可变形植物模型，以用于学习、规划和控制，但这种方法很少针对真实世界植物的机械性能进行验证。在本文中，我们使用这种基于真实材料属性和梁弯曲理论的刚体模型，来模拟蓝莓枝条在载荷下的变形。为了验证该模型，我们在MuJoCo中模拟这些枝条，并将其行为与使用定制测试台在商业农场探测枝条时收集的真实世界数据进行比较。我们对几个关键建模变量进行了敏感性分析，并表明该方法对植物直径计算和先验弯曲模量估计高度敏感，而弯曲模量取决于季节和蓝莓品种。我们还分享了活体蓝莓枝条变形的数据集，包括RGB-D图像以及测量的力和位移。
英文摘要
Many labor-intensive tasks in fruit production such as pruning require physically interacting with the plant (e.g., pushing, pulling, bending limbs, etc.). Due to increasing labor shortages, there is widespread interest in the adoption of robotics in this area. When the robot must physically interact with the system, a deformable model of the plant is beneficial. Coupled, spring-loaded beams have been used in prior work to build deformable plant models in simulation for learning, planning, and control, but this approach has rarely been validated against the mechanical properties of real-world plants. In this paper, we use this rigid-body model, grounded in real material properties and beam bending theory, to simulate the deformation of blueberry canes under loading. To validate the model, we simulate the canes in MuJoCo and compare their behavior with real-world data collected from probing canes at a commercial farm with a custom testbed. We perform sensitivity analysis on several key modeling variables and show that this approach is highly sensitive to the plant diameter calculations and a priori flexural modulus estimation, which is dependent on season and blueberry variety. We also share our dataset of live blueberry cane deformation, including RGB-D images and measured forces and displacements.
