https://scholars.lib.ntu.edu.tw/handle/123456789/605934
標題: | A Collaborative Robot for Tea Harvesting with Adjustable Autonomy | 作者: | Lai Y.-L Chen P.-L Su T.-C Hwang W.-Y Chen S.-F PING-LANG YEN |
關鍵字: | Agricultural robot;collaborative robot;human robot interaction;tea plucking robot;Collaborative robots;Cutting tools;Adjustable autonomy;Forward speed;Harvesting machines;Humans-robot interactions;Side by sides;Tea gardens;Tea plucking robot;Working efficiency;Forestry | 公開日期: | 2022 | 卷: | 53 | 期: | 1 | 起(迄)頁: | 4-22 | 來源出版物: | Cybernetics and Systems | 摘要: | A collaborative mobile robot has been developed for tea plucking in narrow terrain tea gardens. The robot executes stable side-by-side motions and carries most of the load of the tea harvesting machine. The robot is controlled with adjustable autonomy so that the human can provide a supervisory role and adjust the optimal height and forward speed of the cutting tool. During tea plucking, the robot can autonomously detect the tree rows and avoid colliding with the trees. The experimental results show that the proposed collaborative robot can stably co-work with humans and significantly improve working efficiency and comfort. ? 2021 Taylor & Francis Group, LLC. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85121422613&doi=10.1080%2f01969722.2021.2008678&partnerID=40&md5=db3115c2d7b2d62d623a27c61f4dc37e https://scholars.lib.ntu.edu.tw/handle/123456789/605934 |
ISSN: | 01969722 | DOI: | 10.1080/01969722.2021.2008678 |
顯示於: | 生物機電工程學系 |
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