Developing Plans for Robotic Excavators
نویسنده
چکیده
We would like a robot excavator that is able to excavate a volume of soil according to specification. To this end we have developed a general method that can be used to provide prescriptions as to where and how to dig for a variety of excavator configurations and tasks. This paper presents simulation results of a front-end loader performing a loading task. In addition, preliminary results from a trenching experiments conducted with a robot in our lab are presented.
منابع مشابه
Synthesis of Tactical Plans for Robotic Excavation
This thesis describes an approach to synthesizing plans for robotic excavators. Excavation tasks range from loading a pile of soil to cutting a geometrically described volume of earth— for a trench or foundation footing. The excavation task can be stated in terms familiar to researchers in robotics and artificial intelligence: Transform the world from its current state to another state. Two imp...
متن کاملA Ground-Based Operation System for EVA Support Robot Experiments
Japan Aerospace Exploration Agency (JAXA) is developing space robotic technologies to realize a robot to support manned space activity. JAXA plans to conduct a robot experiment to demonstrate locomotion strategy using tethers and an extendable robotic arm with a robotic hand on the International Space Station, Japanese Experiment Module Exposed Facility (JEM-EF) in fiscal year 2011. The experim...
متن کاملControl of a heavy-duty Robotic Excavator using Time Delay Control with Switching Action with Integral Sliding Surface
The control of a robotic excavator is difficult from the standpoint of the following problems: parameter variations in mechanical structures, various nonlinearities in hydraulic actuators and disturbance due to the contact with the ground. The more the size of robotic excavators increase, the more the length and mass of excavator’s links; the more the parameters of a robotic excavator vary. A T...
متن کاملRobotic Excavation in Contruction Automation - IEEE Robotics & Automation Magazine
C onstruction is of prime economic significance to many industry sectors. Intense competition, shortages of skilled labor, and technological advances are forcing rapid change in the construction industry, thus motivating construction automation [1]. Earthmoving machines, such as bulldozers, wheel loaders, excavators, scrapers, and graders, are common in construction. Excavationbased operations ...
متن کاملEstimation with applications to dynamic status of an excavator without renovation
Purpose Operators and drivers are easily exposed to danger by excavators is operating in dangerous places such as slopes, soft ground, building dismantling sites, distressed areas, and construction waste land-fills. For the safe use of conventional excavators as a tele-operated system without any renovation, feedback information of the boom, arm, and bucket cylinder should be estimated as a sch...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1994