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Developing Plans for Robotic Excavators

by Sanjiv Singh, Carnegie Mellon Univ, Pittsburgh, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

We would like a robot excavator that is able to excavate a volume of soil according to specification. To this end we have developed a general method that can be used to provide prescriptions as to where and how to dig for a variety of excavator configurations and tasks. This paper presents simulation results of a front-end loader performing a loading task. In addition, preliminary results from a trenching experiments conducted with a robot in our lab are presented.

Subject Headings: Automation and robotics | Excavation | Load factors | Construction methods | Construction equipment | Motion (dynamics)

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