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JRM Vol.24 No.6 pp. 924-932
doi: 10.20965/jrm.2012.p0924
(2012)

Paper:

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Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader

Hisashi Osumi*1, Tomoya Uehara*2, Naoto Okada*2, Takuya Fujiwara*3, and Shigeru Sarata*4

*Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

*2Canon Corp., Japan

*3Graduate School of Science and Engineering, Chuo University, Japan

*4University of Tsukuba, Japan

Received:
June 12, 2012
Accepted:
August 10, 2012
Published:
December 20, 2012
Creative Commons License
Keywords:
wheel loader, autonomous control, optimal scooping path, reaction force model, rock pile
Abstract

We propose a method for the efficient scooping of sediment by a wheel loader. We performed experiments to verify the effectiveness of the proposed method. First, in order to calculate the energy required for the scooping operation, we derived a model of the reaction force that is generated on the bucket. We verified the validity of the model by experiments. We then used the reaction force model to determine the optimal trajectory for the bucket. A mechanical simulator was used to verify the trajectory. Although experimental results showed the unexpected effects of sediment that settled inside the bucket, we obtained results that reflect theoretical values.

Cite this article as:
Hisashi Osumi, Tomoya Uehara, Naoto Okada, Takuya Fujiwara, and Shigeru Sarata, “Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader,” J. Robot. Mechatron., Vol.24, No.6, pp. 924-932, 2012.
Data files:
References
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