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Robotics 2017, 6(4), 24;

The Thorvald II Agricultural Robotic System

Faculty of Science and Technology, Norwegian University of Life Sciences, Ås, 1432, Norway
Author to whom correspondence should be addressed.
Received: 1 September 2017 / Revised: 22 September 2017 / Accepted: 25 September 2017 / Published: 30 September 2017
(This article belongs to the Special Issue Agriculture Robotics)
PDF [58606 KB, uploaded 12 October 2017]


This paper presents a novel and modular approach to agricultural robots. Food production is highly diverse in several aspects. Even farms that grow the same crops may differ in topology, infrastructure, production method, and so on. Modular robots help us adapt to this diversity, as they can quickly be configured for various farm environments. The robots presented in this paper are hardware modular in the sense that they can be reconfigured to obtain the necessary physical properties to operate in different production systems—such as tunnels, greenhouses and open fields—and their mechanical properties can be adapted to adjust for track width, power requirements, ground clearance, load capacity, and so on. The robot’s software is generalizing to work with the great variation of robot designs that can be realized by assembling hardware modules in different configurations. The paper presents several novel ideas for agricultural robotics, as well as extensive field trials of several different versions of the Thorvald II platform. View Full-Text
Keywords: modular robots; agricultural robotics; field robotics; agriculture modular robots; agricultural robotics; field robotics; agriculture

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Grimstad, L.; From, P.J. The Thorvald II Agricultural Robotic System. Robotics 2017, 6, 24.

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