Philipp Leemann

2 accepted papers

2019

Autonomous Free-Form Trenching Using a Walking Excavator

Dominic Jud, Philipp Leemann, Simon Kerscher, Marco Hutter

RA-L 2019

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 contr

Cited by 82 Source ↗Scholar ↗

2017

Planning and Control for Autonomous Excavation

Dominic Jud, Gabriel Hottiger, Philipp Leemann, Marco Hutter

RA-L 2017

This letter presents a novel planning and control approach for autonomous excavation that is independent of the soil composition and goes beyond a single dig. In contrast to the existing work, which is mostly based on position trajectories for the bucket motion, we define a single dig cycle directly

Cited by 83 Source ↗Scholar ↗