HEAP--The autonomous walking excavator

HEAP--The autonomous walking excavator

‪Edo Jelavic‬ - ‪Google Scholar‬

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 …

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Autonomous Free-Form Trenching Using a Walking Excavator

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 …

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Autonomous Free-Form Trenching Using a Walking Excavator

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 …

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Prof. Dr. Marco Hutter | dfab | NCCR Digital Fabrication

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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HEAP -,Automation in Construction - X-MOL

HEAP - . Automation in Construction ( IF 7.700 ) Pub Date : Kefid, DOI: 10.1016/j.autcon.2021.103783. Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Pascal Egli, Philipp Leemann, Gabriel Hottiger, Marco Hutter.,

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HEAP – The autonomous walking excavator - Research Collection

HEAP – The autonomous walking excavator. 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

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XIMEA - Case study: Remotely Operated Walking Excavator

May 30, 2019 · The excavator role was played by HEAP, a customized Menzi Muck M545 Excavator developed for autonomous use cases as well as advanced teleoperation. The machine has novel force-controllable hydraulic cylinders in the chassis that allow it to adapt to any terrain.

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2021.6.14 Robotics papers — Eye On AI

Jun 14, 2021 · HEAP -- The autonomous walking excavator by Dominic Jud et al Kefid21 Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments by Ashkan Jasour et al Kefid21 Disentangled Attention as Intrinsic Regularization for

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Dr. Dominic Jud | dfab | NCCR Digital Fabrication

He joined NCCR Digital Fabrication in October 2015 as a PhD researcher and worked on autonomous landscaping with a walking excavator. In 2021 Dominic Jud completed his PhD, and has since been awarded an ETH Pioneering Fellowship to further develop his research on tele-operated and semi-autonomous heavy machinery.

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Robotic embankment | SpringerLink

Jun 23, 2021 · We use HEAP in this work, the world's first autonomous walking excavator. The development of HEAP from an off-the-shelf walking excavator into an autonomous robot is described in our previous work (Jud et al. 2020). It covers the necessary building blocks, i.e., automation of arm and legs, driving control, state estimation and proprioceptive

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Automation in Construction | Vol 129, September 2021

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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HEAP -- The autonomous walking excavator

Jun 09, 2021 · 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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Prof. Dr. Marco Hutter | dfab | NCCR Digital Fabrication

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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HEAP - The autonomous walking excavator - ScienceDirect

Jun 09, 2021 · 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.

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Automation in Construction | Vol 129, September 2021

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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Before starting construction, Mid-Michigan Ponds spends time listening and asking questions to understand what kind of pond our client wants. We carefully examine the proposed location and often perform soil borings to determine whether the location is suitable for the type of pond desired. We then design and construct

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HEAP – The autonomous walking excavator | DeepAI

Jun 09, 2021 · HEAP – The autonomous walking excavator. 06/09/2021 ∙ by Dominic Jud, et al. ∙ 0 ∙ share . 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.

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Robotic embankment

We use HEAP in this work, the world's rst autono-mous walking excavator. The development of HEAP from an o-the-shelf walking excavator into an autonomous robot is described in our previous work (Jud et al. 2020). It covers the necessary building blocks, i.e., automation of arm and legs, driving control, state estimation and pro-

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