Title:
Towards Shared Control of Hydraulic Excavators

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dc.contributor.author Enes, Aaron R. en_US
dc.contributor.author Book, Wayne J. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-06-15T18:55:56Z
dc.date.available 2011-06-15T18:55:56Z
dc.date.issued 2010-06
dc.description Presented at the 6th FPNI – PhD Symposium, June 15-19 2010, West Lafayette, Indiana. en_US
dc.description.abstract Presently, excavator operators manually control all functions of the machine. Decreases to a task's time or energy cost are historically achieved by designing better systems and components or through operator training. In contrast, the approach discussed here allows the human and machine to share control of the end effector to improve machine performance. The paper will introduce the idea of blended shared control in the context of excavation, and will show methods of describing the operator task. A filter that increases the robustness of the task identification is presented. Examples using experimental data are presented to illustrate the results. This approach can potentially decrease task completion time without requiring modification of the machine hardware. en_US
dc.identifier.citation Aaron Enes and Wayne Book, "Towards Shared Control of Hydraulic Excavators ," 6th Fluid Power Net International – PhD Symposium, West Lafayette, Indiana June 15-19, 2010 en_US
dc.identifier.uri http://hdl.handle.net/1853/39133
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Shared control en_US
dc.subject Minimum-time trajectories en_US
dc.subject Excavation en_US
dc.title Towards Shared Control of Hydraulic Excavators en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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