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RÉPUBLIQUE
FRANÇAISE

Liberté
Égalité
Fraternité

INRAE

technologies et systèmes d'information

TSCF
pour les agrosystèmes

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I-SITE
CLERMONT
Clermont Auvergne Project

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# SoilFriendBot : Soil-friendly reconfigurable four-wheeled robot

**Doctorant**

Léo Beurthey¹

**Directeur de thèse**

Roland Lenain¹

**Équipe encadrante**

Lama Al-Bassit¹
Nicolas Bouton²
Myriam Chanet¹
Benjamin Boudon²
Roberto Lot³

**Soil compaction** occurs when excessive pressure is applied on the ground (tillage, vehicle passes...). It can result in biodiversity loss, a drop in crop yield, and higher surface runoff.

This phenomenon affects more than 33M ha of cultivated land in Europe.

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1 : INRAE-TSCF

2 : Institut Pascal

3 : Univ. di Padova

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## How could reconfigurability allow a robot to reduce its impact on soil compaction ?

* Conception of a novel reconfiguration module for the Adap2E robot

* Development of a specialized control scheme for the module

* Evaluation of their impact on soil compaction

## Conception of the module

Use of a mechanism synthesis to design a piloted wheel support fitting our specific requirements.

1. Topology generation using a pseudo-genetic algorithm :

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2. Geometry optimisation using a gradient descent :

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3. Detailed design

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## Development of the control scheme

* Optimal control of the module using real-time performance metrics

* Validation of the scheme under a simulation

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## Evaluation

Experiments taking place at the Montoldre site (INRAE) :

* Test of a battery of standard scenarios

* Measurement of the soil compaction

* Comparison with the simulation results

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Center
Clermont-Auvergne-Rhône-Alpes

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Adress :

9 Avenue Blaise Pascal,
63170 Aubière

Mail : leo.beurthey@inrae.fr

Site : https://tscf.clermont.hub.inrae.fr