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Title:

TOWARD AN ADAPTIVE CONTROL MODEL FOR ROBOTIC BACKHOE EXCAVATION

Accession Number:

00641432

Record Type:

Component

Availability:

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Order URL: http://worldcat.org/isbn/0309055539

Abstract:

Research in robotic excavation has been focused mainly on path control to let a machine search and adapt trajectories automatically. Approaches to detect and handle underground obstacles such as rocks or utility lines are also critical for robotizing the operation. A newly established research facility to study robotic backhoe excavation using a real-size hydraulically powered and computer-controlled manipulator is introduced. A hierarchical planning and control model for robotic excavation is presented. The control system for this robotic backhoe is based on multiple sensors for force and position measurements and an approach for the detection and recognition of underground obstacles is discussed. Experimental data are used to analyze the force and acceleration patterns while the bucket hits an obstacle. Finally, a decision model for obstacle handling strategy derivation is introduced.

Supplemental Notes:

This paper appears in Transportation Research Record No. 1406, Construction Robotics and Automation, and Foundations Engineering. Distribution, posting, or copying of this PDF is strictly prohibited without written permission of the Transportation Research Board of the National Academy of Sciences. Unless otherwise indicated, all materials in this PDF are copyrighted by the National Academy of Sciences. Copyright © National Academy of Sciences. All rights reserved

Monograph Accession #:

01403255

Language:

English

Authors:

Huang, Xiaodong
Bernold, Leonhard E

Pagination:

p. 20-24

Publication Date:

1993

Serial:

Transportation Research Record

Issue Number: 1406
Publisher: Transportation Research Board
ISSN: 0361-1981

ISBN:

0309055539

Features:

Figures (6) ; References (11)

Old TRIS Terms:

Subject Areas:

Construction; Geotechnology; Highways; I51: Earthworks and Soil Drainage

Files:

TRIS, TRB

Created Date:

Jan 25 1994 12:00AM

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