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Admittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne LHD
This paper describes the design, tuning, and extensive field testing of an admittance-based Autonomous Loading Controller (ALC) for robotic excavation. Several iterations of the ALC were tuned and tested in fragmented rock ...
Admittance Control for Robotic Loading: Underground Field Trials with an LHD
In this paper we describe field trials of an admittance-based Autonomous Loading Controller (ALC) applied to a robotic Load-Haul-Dump (LHD) machine at an underground mine near Orebro, Sweden. The ALC was tuned and field ...