HEAP – The autonomous walking excavator
OPEN ACCESS
Loading...
Author / Producer
Date
2021-09
Publication Type
Journal Article
ETH Bibliography
yes
Citations
Altmetric
OPEN ACCESS
Data
Rights / License
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 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.
Permanent link
Publication status
published
External links
Editor
Book title
Journal / series
Volume
129
Pages / Article No.
103783
Publisher
Elsevier
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Robotics in Construction; Excavation
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Notes
Funding
141853 - Digital Fabrication - Advanced Building Processes in Architecture (SNF)