Sep 01, 2021 · In this article, we present HEAP, an autonomous multi-purpose mobile manipulator based on a walking excavator, which we deployed and tested in multiple real-world applications. In Section 2, the system is described with the installed sensors and the different actuation concepts that were realized and evaluated for the arm and the unique chassis. The three most commonly used ways of …
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In a second step, we built up HEAP, the world's first autonomous walking excavator. We cover the necessary building blocks, namely sensing, actuation, control and state estimation, to transform an off-the-shelf walking excavator into a versatile, mobile manipulator.
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Jun 18, 2021 · Autonomous walking excavator can build walls and dig trenches. A prototype of an autonomous construction vehicle weighing 12 tonnes has demonstrated that it …
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HEAP – The autonomous walking excavator (2021) Date: 01.09.2021 Authors: Dr. Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Pascal Egli, Philipp Leemann, Gabriel Hottiger, Prof. Dr. Marco Hutter; Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots (2021)
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โดย HEAP ขนาด 12 ตัน ถูกตั้งโปรแกรมให้ใช้ถังขุด (excavator bucket) และมือจับสองนิ้ว (two-finger gripper) โดยสามารถสร้างกำแพงหินสูง 4 เมตร (13 ฟุต) หยิบต้นไม้สำหรับงานป่าไม้
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HEAP - The autonomous walking excavator. Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Marco Hutter. Article 103783 Download PDF. Article preview. select article Formalized control logic fault definition with ontological reasoning for air handling units.
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Jun 14, 2021 · HEAP -- The autonomous walking excavator by Dominic Jud et al Liming21 Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments by Ashkan Jasour et al Liming21 Disentangled Attention as Intrinsic Regularization for
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This letter shows accurate and autonomous creation of free-form trenches using a walking excavator. We present hardware extensions and modifications for full automation, a mapping approach specifically tailored to excavation, environment collision-free trajectory planning on these maps, an arm controller aware of various limits and an improved state machine that enables the execution on real
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Jun 18, 2021 · By Adam Vaughan. This walking excavator operates on its own. Dominic Jud. A prototype of an autonomous construction vehicle weighing 12 tonnes has demonstrated that it can operate on very difficult terrain without a human operator.
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The design environment contains terrain modelling tools to balance cut and fill volumes for material-neutral, on-site construction. Its parametric nature allows it to adapt the geometry to changing site conditions during fabrication. Our autonomous walking excavator is used to create these free-form shapes in natural granular material.
Learn MoreJun 09, 2021 · In this article, we present HEAP, an autonomous multi- purpose mobile manipulator based on a walking excav ator, which we deplo yed and tested in multiple real-world ap-
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Jun 09, 2021 · HEAP -- The autonomous walking excavator. Authors: Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Pascal Egli, Philipp Leemann, Gabriel Hottiger, Marco Hutter. Download PDF. Abstract: The demand and the potential for automation in the construction sector is unmatched, particularly for increasing environmental sustainability, improving worker safety and reducing labor …
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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
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FIGURE 2 HEAP is an autonomous walking excavator based on a highly customized Menzi Muck M545. It is equipped with onboard sensors for state estimation (global navigation satellite system, inertial measurement units, and encoders) and scanning the environment (3D LiDARs).
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HEAP - The autonomous walking excavator. Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Marco Hutter. Article 103783 Download PDF. Article preview. select article Formalized control logic fault definition with ontological reasoning for air handling units.
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Jun 18, 2021 · Autonomous walking excavator can build walls and dig trenches. Technology 18 June 2021 By Adam Vaughan. This walking excavator operates on its own. Dominic Jud. A prototype of an autonomous construction vehicle weighing 12 tonnes has demonstrated that it can operate on very difficult terrain without a human operator.
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Heap-the autonomous walking excavator. D Jud, S Kerscher, M Wermelinger, E Jelavic, P Egli, P Leemann, Automation in Construction 129, 103783, 2021. 2: 2021: Terrain-adaptive planning and control of complex motions for walking excavators. E Jelavic, Y Berdou, D Jud, S Kerscher, M Hutter.
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Aug 05, 2021 · In order to ensure a congruent workflow from design to execution using digitally driven methods, this work is developed in collaboration with Prof. Marco Hutter's Robotic Systems Lab (RSL) and its research on an autonomously operating, fully automated Menzi Muck walking excavator (HEAP).
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