4 accepted papers
In this letter, we present an excavation controller for a full-sized hydraulic excavator that can adapt online to different soil characteristics. Soil properties are hard to predict and can vary even within one scoop, which requires a controller that can adapt online to the encountered soil conditio
This article presents a planning and control pipeline for legged-wheeled (hybrid) machines. It consists of a Trajectory Optimization based planner that computes references for end-effectors and joints. The references are tracked using a whole-body controller based on a hierarchical optimization appr…
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
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers greater flexibility in sensor fusion problem design than filter