4 papers · 1 filter
High Precision Hydraulic Excavator Control for Heavy-Duty Grading
Lennart Werner, Pol Eyschen, Sean Costello +2
High-precision heavy-duty grading is a common step in earthworks, traditionally carried out manually by skilled operators. Removing a significant amount of material while achieving…
Calibrated Dynamic Modeling for Force and Payload Estimation in Hydraulic Machinery
Lennart Werner, Pol Eyschen, Sean Costello +2
Accurate real-time estimation of end effector interaction forces in hydraulic excavators is a key enabler for advanced automation in heavy machinery. Accurate knowledge of these fo…
Dynamic Throwing with Robotic Material Handling Machines
Lennart Werner, Fang Nan, Pol Eyschen +3
Automation of hydraulic material handling machinery is currently limited to semi-static pick-and-place cycles. Dynamic throwing motions which utilize the passive joints, can greatl…
ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments
Lorenzo Terenzi, Julian Nubert, Pol Eyschen +4
Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work…