Motion Analysis of Hydraulic Excavator in Excavating and Loading Work for Autonomous Control

Civil engineering executions still involve extensive dangerous distressful work, so improving the safety of these wretched work environments must be ensured. In Japan, construction site workers are aging and there is fear of shortages of experienced workers and young workers. Improving civil engineering work by executing it using computers and robotic technology is counted on to resolve these problems.

The authors studied autonomous control technology for excavation and loading work using hydraulic excavators. This report presents the results of using a hydraulic excavator equipped with sensors to measure and analyze its motions when it is used for excavation and loading work under the control of an operator.