Salcudean, S.E., Tafazoli, S., Lawrence, P.D., Chau, I., "Impedance Control of a Teleoperated Mini Excavator," Proc. of the 8 th IEEE International Conference on Advanced Robotics (ICAR), July 1997. Home/Search Document Details and Download
Summary Related Articles Check |
This paper is cited in the following contexts:
Robotic Technologies for Outdoor Industrial Vehicles - Stentz (2001) (Correct)
....consume a small percentage of the operator s time. Automated excavation is an active field of research. Many researchers have automated the digging part of the operation, where a human operator selects the starting point for the dig and the control system takes over to complete the dig [6] 8] [14] [15] 17] Others use active sensing to measure the terrain and automatically select the dig points [19] 24] Still others sequence many digging operations [3] 9] 20] We developed a fully autonomous, 25 ton hydraulic excavator for loading trucks with soft materials such as dirt [23] The ....
Salcudean, S.E., Tafazoli, S., Lawrence, P.D., Chau, I., "Impedance Control of a Teleoperated Mini Excavator," Proc. of the 8 th IEEE International Conference on Advanced Robotics (ICAR), July 1997.
Extended Earthmoving with an Autonomous Excavator - Cannon (1999) (Correct)
....it is undesirable for shaped excavation. In contrast to these heuristic methods, a teleoperated mini excavator developed by Salcudean et al. at the University of British Columbia uses a position based impedance control to assist a human operator in guiding the bucket during the digging process [Salcudean 97] The trajectory follows along a desired path specified by the operator until the path is not achievable due to the forces, at which point the control follows the path as closely as possible. In trying to apply this to an automated system, the question is what path should the impedance control ....
Salcudean, S., Tafazoli, S., Lawrence, P., and Chau, I., "Impedance Control of a Teleoperated Mini Excavator", in Proc. of the 8th IEEE International Conference on Advanced Robotics, Monterey, CA, July 1997.
The State of the Art in Automation of Earthmoving - Singh (1997) (1 citation) (Correct)
....over a short sequence of digging cycles has been demonstrated to be at par with performance of a human operator. In contrast to some of the heuristic schemes discussed above, Salcudean et al. have proposed a position based impedance controller for the motion an excavator backhoe during digging [Salcudean 97] In this approach, the bucket is modeled as a position source and the contact force measured through pressure sensors in the cylinders is used to modify the trajectory. 4.3 Tactical Planning At the next level of autonomy, it is necessary to determine where to dig. In some cases, the a nominal ....
S.E. Salcudean, S. Tafazoli, P.D. Lawrence and I. Chau, Impedance control of a teleoperated mini excavator, In Proc. of the 8th IEEE International Conference on Advanced Robotics (ICAR), Monterey, California, July 1997.
Online articles have much greater impact More about CiteSeer.IST Add search form to your site Submit documents Feedback
CiteSeer.IST - Copyright Penn State and NEC