Modeling, estimation, and control of robot-soil interactions

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.

[1]  Derek W. Seward,et al.  Controlling an intelligent excavator for autonomous digging in difficult ground. , 1992 .

[2]  William John Macquorn Rankine.  IV. On the stability of loose earth , 1857, Proceedings of the Royal Society of London.

[3]  Sanjiv Singh,et al.  Modeling and identification of soil-tool interaction in automated excavation , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[4]  J. R. OCallaghan,et al.  Paper 3: Soil Mechanics in Relation to Earth-Moving Machinery , 1964 .

[5]  A. Ersak,et al.  Dynamic cognitive force control for an automatic land excavation robot , 1994, Proceedings of MELECON '94. Mediterranean Electrotechnical Conference.

[6]  Darcy M. Bullock,et al.  Force and Geometry Constraints in Robot Excavation , 1990 .

[7]  Jean-Jacques E. Slotine,et al.  Performance in Adaptive Manipulator Control , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[8]  Juan Andrade-Cetto,et al.  Modeling and Control of Excavator Dynamics during Digging Operation , 1996 .

[9]  J. M. Duncan,et al.  Nonlinear Analysis of Stress and Strain in Soils , 1970 .

[10]  Miroslaw J. Skibniewski,et al.  Dynamic Model of Excavator , 1993 .

[11]  Boonchai Ukritchon.  Application of numerical limit analyses for undrained stability problems in clay , 1998 .

[12]  Leonhard E. Bernold,et al.  TOWARD AN ADAPTIVE CONTROL MODEL FOR ROBOTIC BACKHOE EXCAVATION , 1993 .

[13]  Darcy M. Bullock,et al.  A Laboratory Study of Force-Cognitive Excavation , 1989 .

[14]  Derek W. Seward,et al.  Artificial intelligence in the control and operation of construction plant: the autonomous robot excavator , 1993 .

[15]  P. W. Rowe.  The Relationship Between the Shear Strength of Sands in Triaxial Compression, Plane Strain and Direct Shear , 1970 .

[16]  Andrew J. Whittle,et al.  Undrained Limit Analyses for Combined Loading of Strip Footings on Clay , 1998 .

[17]  Fei-Yue Wang,et al.  Experimental robotic excavation with fuzzy logic and neural networks , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[18]  Leonhard E. Bernold,et al.  Motion and Path Control for Robotic Excavation , 1993 .

[19]  John V. Perumpral,et al.  A model for predicting soil-tool interaction , 1988 .

[20]  A. R. Reece.  Paper 2: The Fundamental Equation of Earth-Moving Mechanics , 1964 .

[21]  W Curtis Andrew,et al.  A nonlinearly compliant transmission element for force sensing and control , 2000 .

[22]  Victor Yodaiken,et al.  A Real-Time Linux , 2000 .

[23]  Regis Hoffman,et al.  Simulation of Autonomous Robotic Excavation , 1994 .

[24]  K. Terzaghi.  Theoretical Soil Mechanics , 1943 .

[25]  A. J. Koivo.  Planning for Automatic Excavator Operations , 1992 .

[26]  William P. Wohlford,et al.  New capability for remotely controlled excavation , 1990 .

[27]  Sanjiv Singh.  The State of the Art in Automation of Earthmoving , 1997 .

[28]  Derek W. Seward,et al.  Developing real-time autonomous excavation-the LUCIE story , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[29]  Ian Sommerville,et al.  LUCIE the robot excavator-design for system safety , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[30]  Won Hong,et al.  Robotic catching and manipulation using active vision , 1995 .

[31]  Miroslaw J. Skibniewski,et al.  Cognitive Force Control of Excavators , 1993 .

[32]  Scott W. Sloan,et al.  Upper bound limit analysis using finite elements and linear programming , 1989 .

[33]  P. L. Bransby,et al.  EXPERIMENTAL AND THEORETICAL INVESTIGATIONS OF A PASSIVE EARTH PRESSURE PROBLEM , 1970 .

[34]  Douglas G. Larson.  A laboratory investigation of load transfer in reinforced soil , 1992 .

[35]  Fei-Yue Wang,et al.  On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements , 1994, Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems.

[36]  Jessica K. Hodgins,et al.  Animating Sand, Mud, and Snow , 1999, Comput. Graph. Forum.

[37]  Kenneth L. Lee,et al.  Drained Strength Characteristics of Sands , 1967 .

[38]  Septimiu E. Salcudean,et al.  A virtual excavator for controller development and evaluation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[39]  Irving J. Oppenheim,et al.  Planning Intricate Robot Motions to Remove Natural Materials , 1994 .

[40]  A. Hemami.  AN APPROXIMATION OF THE WEIGHT OF THE LOADED MATERIAL DURING THE SCOOPING OPERATION OF A MECHANICAL LOADER , 1994 .

[41]  Sanjiv Singh,et al.  A Robotic Excavator for Autonomous Truck Loading , 1999, Auton. Robots.

[42]  Martin Ostoja-Starzewski,et al.  A master-slave manipulator for excavation and construction tasks , 1989, Robotics Auton. Syst..

[43]  Scott W. Sloan,et al.  Lower bound limit analysis using finite elements and linear programming , 1988 .

[44]  Walter W. Boles,et al.  Soil-Tool Interaction Theories as They Apply to Lunar Soil Simulant , 1995 .

[45]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[46]  Rob H. Bracewell,et al.  Control System Design for a Robotic Backhoe , 1990 .

[47]  Jie Shen,et al.  Numeric Simulation of Friction Phenomenon at Soil-Tool Interface , 1995 .

[48]  Xin Li,et al.  Modeling soil: realtime dynamic models for soil slippage and manipulation , 1993, SIGGRAPH.

[49]  G. Spoor,et al.  A review of the relevance of soil mechanics in earth-moving , 1964 .

[50]  V. I. Balovnev,et al.  Machines for moving the earth. , 1986 .

[51]  Peter D. Lawrence,et al.  Impedance control of a teleoperated mini excavator , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[52]  Fei-Yue Wang,et al.  Fuzzy behavior integration and action fusion for robotic excavation , 1996, IEEE Trans. Ind. Electron..

[53]  Miroslaw J. Skibniewski,et al.  Kinematics and Trajectory Planning for Robotic Excavation , 1991 .

[54]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[55]  S. M. Killough,et al.  Remote excavation using the telerobotic small emplacement excavator , 1992 .

[56]  Rover Team.  Characterization of the Martian surface deposits by the Mars Pathfinder rover, Sojourner. Rover Team. , 1997, Science.

[57]  Darcy M. Bullock,et al.  Object-Oriented Programming in Robotics Research for Excavation , 1992 .

[58]  Sanjiv Singh,et al.  Models for Automated Earthmoving , 1999, ISER.

[59]  Jerry E. Pratt,et al.  Stiffness Isn't Everything , 1995, ISER.

[60]  Michael A. Peshkin,et al.  Programmed compliance for error corrective assembly , 1990, IEEE Trans. Robotics Autom..

[61]  Fei-Yue Wang,et al.  Experimental results of robotic excavation using fuzzy behavior control , 1996 .

[62]  Edward McKyes,et al.  The cutting of soil by narrow blades , 1977 .

[63]  Alfreds R. Jumikis.  Active and passive earth pressure coefficient tables , 1962 .

[64]  D. C. Drucker.  Limit analysis of two and three dimensional soil mechanics problems , 1953 .

[65]  Arrin Katz.  The design and application of a nonlinear series compliance actuator for use in robotic arms , 1999 .

[66]  Wai-Fah Chen,et al.  Limit analysis in soil mechanics , 1990 .

[67]  Ahmad Hemami,et al.  Modelling, analysis and preliminary studies for automatic scooping , 1993, Adv. Robotics.

[68]  Leonhard E. Bernold,et al.  Control Model for Robotic Backhoe Excavation and Obstacle Handling , 1994 .

[69]  Gary D. Clow,et al.  A summary of Viking sample-trench analyses for angles of internal friction and cohesions , 1982 .

[70]  Fei-Yue Wang,et al.  Autonomous Rock Excavation - Intelligent Control Techniques and Experimentation , 1998, Series in Intelligent Control and Intelligent Automation.

[71]  Sanjiv Singh,et al.  Learning to predict resistive forces during robotic excavation , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[72]  X. D. Huang,et al.  Robotic Rock Handling During Backhoe Excavation , 1993 .

[73]  Sanjiv Singh,et al.  Multi-resolution planning for earthmoving , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[74]  Poul V. Lade,et al.  Elasto-plastic stress-strain theory for cohesionless soil with curved yield surfaces , 1977 .

[75]  T. V. Alekseeva,et al.  Machines for earthmoving work : theory and calculations , 1985 .

[76]  Tom Dijkstra,et al.  Limit Analysis in Soil Mechanics, W.F. Chen, X.L. Liu (Eds.), in: Developments in Geotechnical Engineering, vol.52. Elsevier, Amsterdam (1990), 492, ISBN 0-444-43042-3 , 1993 .

[77]  Rob H. Bracewell,et al.  The Development of Research Models for Automatic Excavation , 1988 .

[78]  P. W. Rowe.  The stress-dilatancy relation for static equilibrium of an assembly of particles in contact , 1962, Proceedings of the Royal Society of London. Series A. Mathematical and Physical Sciences.

[79]  D. C. Drucker,et al.  Soil mechanics and plastic analysis or limit design , 1952 .

[80]  H. J. Greenberg,et al.  EXTENDED LIMIT DESIGN THEOREMS FOR CONTINUOUS MEDIA , 1952 .

[81]  Leonhard E. Bernold,et al.  Principles of control for robotic excavation , 1992 .

[82]  A. R. Reece,et al.  Symmetrical three-dimensional soil failure , 1967 .

[83]  D. W. Seward,et al.  Knowledge Acquisition for a Robot Excavator , 1990 .

[84]  J. Kérisel,et al.  Tables for the calculation of passive pressure, active pressure and bearing capacity of foundations , 1948 .

[85]  J. Michael Duncan,et al.  Passive earth pressures : Theories and tests , 2001 .

[86]  Arsalan Ghahramani,et al.  Zero Extension Line Theory of Earth Pressure , 1979 .

[87]  Sanjiv Singh.  Developing Plans for Robotic Excavators , 1994 .

[88]  William H. Press,et al.  Numerical recipes in C , 2002 .

[89]  Richard J. Godwin,et al.  Soil Failure with Narrow Tines , 1977 .

[90]  V. V. Sokolovskii,et al.  Statics of Granular Media , 1965 .

[91]  Koon Meng Chua,et al.  Martian and Lunar Cold Region Soil Mechanics Considerations , 1998 .

[92]  Scott W. Sloan,et al.  A steepest edge active set algorithm for solving sparse linear programming problems , 1988 .

[93]  Cary R. Spitzer,et al.  Physical properties of the surface materials at the Viking landing sites on Mars , 1987 .

[94]  H. Dines.  ‘Soil’ Mechanics , 1944, Nature.

[95]  J. H. Atkinson,et al.  Foundations and slopes : an introduction to applications of critical state soil mechanics , 1981 .

[96]  P. W. Rowe,et al.  Passive Earth Pressure Measurements , 1965 .

[97]  Fei-Yue Wang,et al.  Task and behavior formulations for robotic rock excavation , 1995, Proceedings of Tenth International Symposium on Intelligent Control.

[98]  R. L. Kondner.  Hyperbolic Stress-Strain Response: Cohesive Soils , 1963 .

[99]  Walter W. Boles,et al.  Properties of Lunar Soil Simulant JSC-1 , 1995 .

[100]  John Ballantyne,et al.  A virtual environment display for teleoperated excavation , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[101]  Boonchai Ukritchon.  Evaluation of numerical limit analyses by finte elements and linear programming , 1996 .

[102]  D. S. Crouch.  Mars viking surface sampler subsystem , 1977 .

[103]  Robert D. Grisso,et al.  A soil-tool model based on limit equilibrium analysis , 1983 .

[104]  J. Slotine,et al.  AUTONOMOUS ROCK ACQUISITION , 1996 .

[105]  R. L. Kushwaha,et al.  A non-linear 3-D finite element analysis of soil failure with tillage tools , 1990 .

[106]  Sanjiv Singh,et al.  First results in the autonomous retrieval of buried objects , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[107]  C A Coulomb,et al.  ESSAI SUR UNE APPLICATION DES REGLES DE MAXIMIS ET MINIMIS A QUELQUES PROBLEMES DE STATIQUE RELATIFS A L'ARCHITECTURE (ESSAY ON MAXIMUMS AND MINIMUMS OF RULES TO SOME STATIC PROBLEMS RELATING TO ARCHITECTURE) , 1973 .

[108]  Jie Shen,et al.  Soil-Machine Interactions: A Finite Element Perspective , 1998 .

[109]  R. L. Kushwaha,et al.  Finite Element Analysis of the Dynamic Interaction Between Soil and Tillage Tool , 1995 .

[110]  Raymond N. Yong,et al.  Finite element analysis of plane soil cutting , 1977 .

[111]  Antti J. Koivo.  Kinematics of Excavators (Backhoes) for Transferring Surface Material , 1994 .