Evolution of a Robotic Excavator

This paper - considers the opportuntiis for general robotic excavation based on available experience with utility pipe excavation, and on the broader base of of robotic technology. We first critique our robotic pipe excavator toidentify shortcomings and specializations that would be limiting to more robust and general excavation systems. We then consider developments thatcould meet the technological needs. Finally, we present a speculative version of a generic excavation robot.