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Real-Time Excavation Trajectory Modulation for Slip and Rollover Prevention
ChangU Kim;Bukun Son;Minhyeong Lee;Hyelim Choi;Seokhyun Hong;Minsung Kang;Jihyun Moon;Dongmok Kim;Dongjun Lee
We propose a novel real-time excavation trajectory modulation framework on a slope for an autonomous excavator with a low-level digital kinematic control as common for hydraulic industrial excavators. Excavation on a slope is challenging because of a higher risk of slips and rollovers. To deal with this, we propose a real-time excavation trajectory modulation framework based on slope tangential/no...Show More
Precision Motion Control of Robotized Industrial Hydraulic Excavators via Data-Driven Model Inversion
Minhyeong Lee;Hyelim Choi;ChangU Kim;Jihyun Moon;Dongmok Kim;Dongjun Lee
This work proposes a novel precision motion control framework of robotized industrial hydraulic excavators via data-driven model inversion. Rather than employing a single neural network to approximate the whole excavator dynamics, including input delays and dead-zones, we construct a physics-inspired data-driven model with a modular structure. The data-driven model is then inverted in a modular fa...Show More
Expert-Emulating Excavation Trajectory Planning for Autonomous Robotic Industrial Excavator
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2020 | Conference Paper |
Cited by: Papers (20)
We propose a novel excavation (i.e., digging) trajectory planning framework for industrial autonomous robotic excavators, which emulates the strategies of human expert operators to optimize the excavation of (complex/unmodellable) soils while also upholding robustness and safety in practice. First, we encode the trajectory with dynamic movement primitives (DMP), which is known to robustly preserve...Show More
2-D cooperative localization with omni-directional mobile robots
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Year: 2015 | Conference Paper |
Cited by: Papers (4)
In this paper, we propose cooperative localization scheme based feedback control for the multiple omni-directional mobile robots. Using the proposed cooperative localization scheme, localization capability of each mobile robot is enhanced, although some of the robots loss its absolute position measurement. Position error is bounded based on relative measurements which is unbounded for dead reckoni...Show More
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