Admittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne Load-Haul-Dump Machine

@article{Dobson2017AdmittanceCF,
  title={Admittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne Load-Haul-Dump Machine},
  author={Andrew A. Dobson and Joshua A. Marshall and Johan Larsson},
  journal={J. Field Robotics},
  year={2017},
  volume={34},
  pages={123-150}
}
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 piles—similar to those found in operating mines—by using both a robotic 1-tonne capacity Kubota R520S diesel-hydraulic surface loader and a 14-tonne capacity Atlas Copco ST14 underground load-haul-dump (LHD) machine. On the R520S loader, the ALC increased payload by 18% with… CONTINUE READING