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About this paper
Lennart Werner, Pol Eyschen, Sean Costello, Andrei Cramariuc, Marco Hutter
Researchers at ETH Zurich developed a control system for hydraulic excavators that enables sub-2 cm grading accuracy in heavy-duty in-soil conditions, utilizing the machine's full hydraulic potential. The system, featuring architecture-specific hydraulic compensation and a fast calibration procedure, generalizes across Load Sensing (LS) and Negative Flow Control (NFC) hydraulic machines.
Key insights
- Explicitly modeling and compensating for load-dependent hydraulic dynamics, particularly with a novel pressure-adaptive NFC model, is crucial for achieving high-precision control in heavy-duty grading.
- A hierarchical control architecture allows for machine-agnostic path planning while integrating architecture-specific low-level hydraulic compensation, enhancing generalizability across different excavators.
- A fast, non-invasive calibration procedure significantly improves the practicality and retrofittability of advanced control systems for diverse heavy machinery, enabling wider adoption.
Summary by alphaXiv.
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