Learning to Predict Resistive Forces During Robotic Excavation
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 2102 - 2107, May, 1995
Abstract
Few robot tasks require as forceful an interaction with the world as excavation. In order to effectively plan its actions, a robot excavator requires a method to predict the resistive forces experienced as it scoops soil from the terrain. This paper presents methods for a robot to predict resistive forces and to improve its predictions based on experience, using "learning" methods. A simple analytical model of a flat blade translating through soil is extended to account to for phenomena specific to motions of an excavator. In addition, the paper examines how representation and methodology affect prediction performance.
BibTeX
@conference{Singh-1995-13872,author = {Sanjiv Singh},
title = {Learning to Predict Resistive Forces During Robotic Excavation},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1995},
month = {May},
volume = {2},
pages = {2102 - 2107},
}
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