Autonomous Soil Collection in Environments With Heterogeneous Terrain
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.
Fields of Study & Subjects
Image Processing and 3D Reconstruction
Publication details
- Journal / source
- 2026 23rd International Conference on Ubiquitous Robots (UR)
- Publisher
- IEEE
- Pages
- 25–31
- Publication date
- 1 July 2026
- Language
- EN