Development of remote controlled manipulation device for a conventional excavator without renovation

Shin, Dong Yun; Kang, Min-Sung; Lee, Seung‐Hoon; Han, Changsoo

doi:10.1109/sii.2012.6427299

Cited by 7 publications

(2 citation statements)

References 10 publications

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“…Sasaki et al [19] used two pneumatic robot arms for this task. A more straightforward approach with only one degree of freedom per actuated joystick axis was chosen by Shin et al [20]. However, the mechanism is installed above the joysticks, which prevents an operator from entering the cabin, similar to the pneumatic arm.…”

Section: Automation Of Hydraulic Excavatorsmentioning

confidence: 99%

HEAP -- The autonomous walking excavator

Jud,

Kerscher,

Wermelinger

et al. 2021

Preprint

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The demand and the potential for automation in the construction sector is unmatched, particularly for increasing environmental sustainability, improving worker safety and reducing labor shortages. We have developed an autonomous walking excavator -based one of the most versatile machines found on construction sites -as one way to begin fulfilling this potential. This article describes the process of converting an off-the-shelf construction machine into an autonomous robotic system. First we outline the necessary sensing equipment for full autonomy and the novel actuation of the legs, and compare three different complementary actuation principles for the excavator's arm. Second, we solve the state estimation problem for a general wheeled-legged robot. Beside kinematic measurements, it includes GNSS-RTK, to absolutely reference the machine on a construction site. Third, we developed individual controllers for driving, chassis balancing and arm motions allowing for fully autonomous operation. Lastly, we highlight the machine's potential in four different real-world applications, e.g. autonomous trench digging, autonomous assembly of dry stone walls, autonomous forestry work and semi-autonomous teleoperation. On top, we also share some development insights and possible future research directions.

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Section: Automation Of Hydraulic Excavatorsmentioning

confidence: 99%

HEAP -- The autonomous walking excavator

Jud,

Kerscher,

Wermelinger

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…To solve the problem, Shin et al developed a system that enables excavators to be remote controlled without remodeling, change or transform by applying attachable and separable mechanism and modules (Shin et al, 2012).…”

Section: Introductionmentioning

confidence: 99%

Study on Methodology for Detecting the Status of General Excavator without Renovation

Kang¹,

Gil²,

Lee³

et al. 2013

Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building Th

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Excavation and earthmoving equipment mostly operate in accident-prone areas. These areas normally have rollover, confinement, and fall or may be considered harmful work areas due to demolitions and sewage removals. It is inevitable that excavation and earthmoving systems should be developed to secure the safety of operators through unmanned and remote control systems. Therefore, this research proposes a system that enables excavators to be unmanned and remote controlled without any renovation, remodeling, change, or transformation by applying attachable and separable mechanism and modules. Moreover, this research proposes the sensor module to evaluate the dynamic status without processing remodeling or transformation the existing hydraulic drive excavation system by adopting the easy attachable and separable mechanism. The study verifies this proposal based on observed possibility and feasibility through the experiments.

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