On-line energy-based method for soil estimation and classification in autonomous excavation

S. M. Vahed, H. A. Delaimi, K. Althoefer, L. D. Seneviratne

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

This paper proposes a novel approach for soil estimation and classification in autonomous excavation exploiting key features from bucket velocity and energy signatures considering the interaction dynamic of the digging process. A real-time energy-based method is proposed for estimating the dynamic friction force arising during soil-tool interaction. The method relies on a novel technique for measuring the force and displacement variables which allows the on-line determination of the bucket velocity and dissipation energy along the full excavation profile. It is shown that these measurements can be effectively used for the on-line identification and classification of different types of soil encountered during the excavation process. The proposed method is insensitive to noise and can be easily implemented in practice using an excavation arm and hydraulic actuators. Various experimental results are presented supporting the practicality of the proposed method.

Original languageBritish English
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages554-559
Number of pages6
DOIs
StatePublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 29 Oct 20072 Nov 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/TerritoryUnited States
CitySan Diego, CA
Period29/10/072/11/07

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