Related papers: Data-Efficient Excavation Force Estimation for Whe…
Earthmoving operations with wheel loaders require substantial power and incur high operational costs. This work presents an efficient automation framework based on the Fundamental Earthmoving Equation (FEE) for soil-tool interaction…
Accurate real-time estimation of end effector interaction forces in hydraulic excavators is a key enabler for advanced automation in heavy machinery. Accurate knowledge of these forces allows improved, precise grading and digging maneuvers.…
Having smart and autonomous earthmoving in mind, we explore high-performance wheel loading in a simulated environment. This paper introduces a wheel loader simulator that combines contacting 3D multibody dynamics with a hybrid…
This paper presents a method for learning world models for wheel loaders performing automatic loading actions on a pile of soil. Data-driven models were learned to output the resulting pile state, loaded mass, time, and work for a single…
Rock capturing with standard excavator buckets is a challenging task typically requiring the expertise of skilled operators. Unlike soil digging, it involves manipulating large, irregular rocks in unstructured environments where complex…
We investigate how well a physics-based simulator can replicate a real wheel loader performing bucket filling in a pile of soil. The comparison is made using field test time series of the vehicle motion and actuation forces, loaded mass,…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terramechanics models are often too…
A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…
Hydraulic systems are widely utilized in industrial applications due to their high force generation, precise control, and ability to function in harsh environments. Hydraulic cylinders, as actuators in these systems, apply force and…
Estimating motion from spatiotemporal geoscientific data is a fundamental component of many environmental modeling and forecasting tasks. In this work, we propose a physics-informed deep learning framework for estimating altitude-wise…
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time…
Soil compaction is critical in construction engineering to ensure the stability of structures like road embankments and earth dams. Traditional methods for determining optimum moisture content (OMC) and maximum dry density (MDD) involve…
An alternative data-driven modeling approach has been proposed and employed to gain fundamental insights into robot motion interaction with granular terrain at certain length scales. The approach is based on an integration of dimension…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
In an environmental framework, extreme values of certain spatio-temporal processes, for example wind speeds, are the main cause of severe damage in property, such as electrical networks, transport and agricultural infrastructures.…
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization…
A lifting-linearization method based on the Koopman operator and Dual Faceted Linearization is applied to the control of a robotic excavator. In excavation, a bucket interacts with the surrounding soil in a highly nonlinear and complex…
Advances in precision agriculture greatly rely on innovative control and sensing technologies that allow service units to increase their level of driving automation while ensuring at the same time high safety standards. This paper deals…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
This paper presents a data-driven methodology for the control of static hydraulic impact hammers, also known as rock breakers, which are commonly used in the mining industry. The task addressed in this work is that of controlling the…