Related papers: High Precision Hydraulic Excavator Control for Hea…
Construction sites frequently require removing large rocks before excavation or grading can proceed. Human operators typically extract these boulders using only standard digging buckets, avoiding time-consuming tool changes to specialized…
Vast industrial investment along with increased academic research on heavy-duty hydraulic manipulators has unavoidably paved the way for their automatization, necessitating the design of robust and high-precision controllers. In this study,…
Bulk material handling involves the efficient and precise moving of large quantities of materials, a core operation in many industries, including cargo ship unloading, waste sorting, construction, and demolition. These repetitive,…
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring that both joint-level and end-effector trajectories remain…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
A sizable part of the fleet of heavy-duty machinery in the construction equipment industry uses the conventional valve-controlled load-sensing hydraulics. Rigorous climate actions towards reducing CO$_{2}$ emissions has sparked the…
Ground segmentation in point cloud data is the process of separating ground points from non-ground points. This task is fundamental for perception in autonomous driving and robotics, where safety and reliable operation depend on the precise…
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.…
Quantifying greenhouse-gases (GHG) in wetlands is critical for climate modeling and restoration assessment, yet manual sampling is labor-intensive, and time demanding. We present WetExplorer, an autonomous tracked robot that automates the…
In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…
Reinforcement learning control of an underground loader is investigated in simulated environment, using a multi-agent deep neural network approach. At the start of each loading cycle, one agent selects the dig position from a depth camera…
Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers.…
The demand and the potential for automation in the construction sector is unmatched, particularly for increasing environmental sustainability, improving worker safety and reducing labor shortages. We have developed an autonomous walking…
In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between…
Automating complex industrial robots requires precise nonlinear control and efficient energy management. This paper introduces a data-driven nonlinear model predictive control (NMPC) framework to optimize control under multiple objectives.…