Name
Abstract | ||
|---|---|---|
This letter presents a novel planning and control approach for autonomous excavation that is independent of the soil composition and goes beyond a single dig. In contrast to the existing work, which is mostly based on position trajectories for the bucket motion, we define a single dig cycle directly by an end-effector force-torque trajectory. This trajectory applied to different types of soil, res... |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/LRA.2017.2721551 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Soil,Force,Trajectory,Actuators,Optimization,Impedance,Legged locomotion | Excavation,Control theory,Terrain,Planner,Control engineering,Excavator,Operator (computer programming),Engineering,Interaction forces,Trajectory,Actuator | Journal |
Volume | Issue | ISSN |
2 | 4 | 2377-3766 |
Citations | PageRank | References |
2 | 0.41 | 7 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dominic Jud | 1 | 4 | 2.22 |
| Gabriel Hottiger | 2 | 2 | 0.75 |
| Philipp Leemann | 3 | 3 | 0.80 |
| Marco Hutter | 4 | 59 | 8.36 |