Robotic excavation in construction automation

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