This study analyzes the combustion of pellets and briquettes made of plant biomass in low-power heating devices powered periodically with fuel being placed on the grate, as well as after modification using an automatic fuel feeding system in the gutter burner. The use of herbaceous biomass in the form of pellets in low-power heating devices with automatic fuel feeding and combustion in a gutter burner is not widely promoted and popular. Therefore, this study used four types of herbaceous waste biomass (wheat straw, rye straw, oat straw and hay) and one type of woody waste biomass (birch sawdust) for testing. The basic chemical characteristics were determined for the raw materials. After appropriate preparation, the selected starting materials were subjected to briquetting and pelleting processes. Selected physical properties were also determined for the obtained biofuels. Biofuels made from birch sawdust had the lowest heat value (16.34 MJ·kg−1), although biofuels made from wheat, rye and hay straw had a slightly lower calorific value, respectively: 16.29; 16.28 and 16.26 MJ·kg−1. However, the calorific value of oat straw biofuels was only 15.47 MJ kg−1. Moreover, the ash content for herbaceous biomass was 2–4 times higher than for woody biomass. Similar differences between herbaceous and woody biomass were also observed for the nitrogen and sulfur content. To burn the prepared biofuels, a domestic grate-fired biomass boiler was used, periodically fed with portions of fuel in the form of pellets or briquettes (type A tests), which was then modified with a gutter burner enabling the automatic feeding of fuel in the form of pellets (type B tests). During the combustion tests with simultaneous timing, the concentration of CO2, CO, NO and SO2 in the exhaust gases was examined and the temperature of the supplied air and exhaust gases was measured. The stack loss (qA), combustion efficiency index (CEI) and toxicity index (TI) were also calculated. The research shows that the use of automatic fuel feeding stabilizes the combustion process. The combustion process is balanced between herbaceous and woody biomass biofuels. Disparities in CO2, CO and Tgas emissions are decreasing. However, during type B tests, an increase in NO emissions is observed. At the same time, the research conducted indicates that the combustion of herbaceous biomass pellets with their automatic feeding into the combustion chamber is characterized by an increase in combustion efficiency, indicating that when the combustion process is automated, they are a good replacement for wood biofuels—both pellets and briquettes.