The Analysis of Excavator Operation by Skillful Operator

In recent years, some unmanned operation systems for the hydraulic excavator are required and some systems are already developed. However, it is difficult to realize effective operation utilizing such systems, because the operator cannot sense ground condition. The skillful operator adaptive their operation to the excavating environment based on the experience, and realizing the efficient excavating. In this paper, we described the experiment for extracting operator's skill for controlling unmanned hydraulic excavator. We compare the operation of skillful with non-skillful operator and discuss the result for the modeling of operator's skill. From these results, we have revealed that skillful operator realizes unified trajectories of the bucket with quick moving and this causes the efficient performance.