Robotic excavation in construction automation

Ha, Q; Santos, M; Nguyen, Q; Rye, D; Durrant-Whyte, H

Robotic excavation in construction automation

Ha, Q

Santos, M Nguyen, Q Rye, D Durrant-Whyte, H

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Publication Type:: Journal Article
Citation:: IEEE Robotics and Automation Magazine, 2002, 9 (1), pp. 20 - 28
Issue Date:: 2002-01-01

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Field	Value	Language
dc.contributor.author	Ha, Q https://orcid.org/0000-0003-0978-1758	en_US
dc.contributor.author	Santos, M	en_US
dc.contributor.author	Nguyen, Q	en_US
dc.contributor.author	Rye, D	en_US
dc.contributor.author	Durrant-Whyte, H	en_US
dc.date.issued	2002-01-01	en_US
dc.identifier.citation	IEEE Robotics and Automation Magazine, 2002, 9 (1), pp. 20 - 28	en_US
dc.identifier.issn	1070-9932	en_US
dc.identifier.uri	http://hdl.handle.net/10453/5812
dc.description.abstract	An overview of the robotic excavation project at the Australian Center for Field Robotics at The University of Sydney is presented. The experimental machine, retrofitted from a commercial mini-excavator, and its instrumentation are described. Estimation and control strategies applied to the robotic excavator digger are briefly presented. Variable-structure-based techniques are employed to implement impedance control of excavator dynamics, and position/force control of the electrohydraulic systems for each working axis. This control takes into consideration uncertainties in modeling, friction, and bucket-soil interactions.	en_US
dc.relation.ispartof	IEEE Robotics and Automation Magazine	en_US
dc.relation.isbasedon	10.1109/100.993151	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Robotic excavation in construction automation	en_US
dc.type	Journal Article
utslib.citation.volume	1	en_US
utslib.citation.volume	9	en_US
utslib.for	090506 Structural Engineering	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Sydney, Australia
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.issue	1	en_US
pubs.publication-status	Published	en_US
pubs.volume	9	en_US

Abstract:

An overview of the robotic excavation project at the Australian Center for Field Robotics at The University of Sydney is presented. The experimental machine, retrofitted from a commercial mini-excavator, and its instrumentation are described. Estimation and control strategies applied to the robotic excavator digger are briefly presented. Variable-structure-based techniques are employed to implement impedance control of excavator dynamics, and position/force control of the electrohydraulic systems for each working axis. This control takes into consideration uncertainties in modeling, friction, and bucket-soil interactions.

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http://hdl.handle.net/10453/5812