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Towards Controlling Bucket Fill Factor in Robotic Excavation by Learning Admittance Control Setpoints
This paper investigates the extension of an admittance control scheme to- ward learning and adaptation of its setpoints to achieve controllable bucket fill factor for robotic excavation of fragmented rock. A previously ...
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 ...