Design of an All-Purpose Terrace Farming Robot
Vibhakar Mohta, Adarsh Patnaik, Shivam Kumar Panda, Siva Vignesh, Krishnan, Abhinav Gupta, Abhay Shukla, Gauri Wadhwa, Shrey Verma, Aditya, Bandopadhyay

TL;DR
This paper presents Aarohi, an autonomous terrace farming robot capable of climbing steep terraces and performing farming tasks, with a focus on design, navigation algorithms, and modular adaptability for diverse agricultural needs.
Contribution
The paper introduces a novel, customizable terrace farming robot with a robust mechanical design and autonomous navigation algorithms tailored for unstructured terrains.
Findings
Successful prototype demonstrating stair climbing and farming operations
Robust navigation algorithms for unstructured terrains
Modular design enabling customization for various tasks
Abstract
Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular, provides a varying set of challenges, including robust stair climbing methods and stable navigation in unstructured terrains. We propose the design of a novel autonomous terrace farming robot, Aarohi, that can effectively climb steep terraces of considerable heights and execute several farming operations. The design optimisation strategy for the overall mechanical structure is elucidated. Further, the embedded and software architecture along with fail-safe strategies are presented for a working prototype. Algorithms for autonomous traversal over the terrace steps using the scissor lift mechanism and performing various farming operations have also been…
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Taxonomy
TopicsSmart Agriculture and AI · Robotic Locomotion and Control · Soil Mechanics and Vehicle Dynamics
