Iterative Autonomous Excavation. Maeda, G. J., Rye, D. C., & Singh, S. P. N. In Field and Service Robotics, 2012. Paper abstract bibtex This paper introduces a Cartesian impedance control framework in which reaction forces exceeding control authority directly reshape bucket motion during successive excavation passes. This novel approach to excavation results in an iterative process that does not require explicit prediction of terrain forces. This is in contrast to most excavation control approaches that are based on the generation, tracking and re-planning of single-pass tasks where the performance is limited by the accuracy of the prediction. In this view, a final trench profile is achieved iteratively, provided that the forces generated by the excavator are capable of removing some minimum amount of soil, maintaining convergence towards the goal. Field experiments show that a disturbance compensated controller is able to maintain convergence, and that a 2-DOF feedforward controller based on free motion inverse dynamics may not converge due to limited feedback gains.
@INPROCEEDINGS{fsr2012.excavator,
author = {Guilherme J. Maeda and David C. Rye and Surya P. N. Singh},
title = {Iterative Autonomous Excavation},
booktitle = {Field and Service Robotics},
year = {2012},
abstract = {This paper introduces a Cartesian impedance control framework in which
reaction forces exceeding control authority directly reshape bucket
motion during successive excavation passes. This novel approach to
excavation results in an iterative process that does not require
explicit prediction of terrain forces. This is in contrast to most
excavation control approaches that are based on the generation, tracking
and re-planning of single-pass tasks where the performance is limited
by the accuracy of the prediction. In this view, a final trench profile
is achieved iteratively, provided that the forces generated by the
excavator are capable of removing some minimum amount of soil, maintaining
convergence towards the goal. Field experiments show that a disturbance
compensated controller is able to maintain convergence, and that
a 2-DOF feedforward controller based on free motion inverse dynamics
may not converge due to limited feedback gains.},
pdf = {gjm_FSR2012.pdf},
url = {http://www.astro.mech.tohoku.ac.jp/FSR2011/}
}
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This is in contrast to most excavation control approaches that are based on the generation, tracking and re-planning of single-pass tasks where the performance is limited by the accuracy of the prediction. In this view, a final trench profile is achieved iteratively, provided that the forces generated by the excavator are capable of removing some minimum amount of soil, maintaining convergence towards the goal. Field experiments show that a disturbance compensated controller is able to maintain convergence, and that a 2-DOF feedforward controller based on free motion inverse dynamics may not converge due to limited feedback gains.","pdf":"gjm_FSR2012.pdf","url":"http://www.astro.mech.tohoku.ac.jp/FSR2011/","bibtex":"@INPROCEEDINGS{fsr2012.excavator,\r\n author = {Guilherme J. Maeda and David C. Rye and Surya P. N. Singh},\r\n title = {Iterative Autonomous Excavation},\r\n booktitle = {Field and Service Robotics},\r\n year = {2012},\r\n abstract = {This paper introduces a Cartesian impedance control framework in which\r\n\treaction forces exceeding control authority directly reshape bucket\r\n\tmotion during successive excavation passes. This novel approach to\r\n\texcavation results in an iterative process that does not require\r\n\texplicit prediction of terrain forces. This is in contrast to most\r\n\texcavation control approaches that are based on the generation, tracking\r\n\tand re-planning of single-pass tasks where the performance is limited\r\n\tby the accuracy of the prediction. In this view, a final trench profile\r\n\tis achieved iteratively, provided that the forces generated by the\r\n\texcavator are capable of removing some minimum amount of soil, maintaining\r\n\tconvergence towards the goal. Field experiments show that a disturbance\r\n\tcompensated controller is able to maintain convergence, and that\r\n\ta 2-DOF feedforward controller based on free motion inverse dynamics\r\n\tmay not converge due to limited feedback gains.},\r\n pdf = {gjm_FSR2012.pdf},\r\n url = {http://www.astro.mech.tohoku.ac.jp/FSR2011/}\r\n}\r\n\r\n","author_short":["Maeda, G. J.","Rye, D. C.","Singh, S. P. N."],"key":"fsr2012.excavator","id":"fsr2012.excavator","bibbaseid":"maeda-rye-singh-iterativeautonomousexcavation-2012","role":"author","urls":{"Paper":"http://www.astro.mech.tohoku.ac.jp/FSR2011/"},"downloads":0,"html":""},"bibtype":"inproceedings","biburl":"http://robotics.itee.uq.edu.au/~spns/pubcache/SpnS_PubList.bib","downloads":0,"keywords":[],"search_terms":["iterative","autonomous","excavation","maeda","rye","singh"],"title":"Iterative Autonomous Excavation","title_words":["iterative","autonomous","excavation"],"year":2012,"dataSources":["zNCf6MTxXnpkNN9Zz"]}