  Agriculture is currently undergoing a robotics revolution, but robots using
wheeled or treads suffer from known disadvantages: they are unable to move over
rubble and steep or loose ground, and they trample continuous strips of land
thereby reducing the viable crop area. Legged robots offer an alternative, but
existing commercial legged robots are complex, expensive, and hard to maintain.
We propose the use of multilegged robots using low-degree-of-freedom (low-DoF)
legs and demonstrate our approach with a lawn pest control task: picking
dandelions using our inexpensive and easy to fabricate BigANT robot. For this
task we added an RGB-D camera to the robot. We also rigidly attached a flower
picking appendage to the robot chassis. Thanks to the versatility of legs, the
robot could be programmed to perform a ``swooping'' motion that allowed this
0-DoF appendage to pluck the flowers. Our results suggest that robots with six
or more low-DoF legs may hit a sweet-spot for legged robots designed for
agricultural applications by providing enough mobility, stability, and low
complexity.
