Publications / 1985 Proceedings of the 2nd ISARC, Pittsburgh, USA

First Results in Automated Pipe Excavation

William "Red" Whittaker, George Turkiyyah, Francois Bitz, John Balash, Rob Guzikowski, Bob Montgomery, Rasim Akdogan, Scott Swetz
Pages 134-143 (1985 Proceedings of the 2nd ISARC, Pittsburgh, USA, ISSN 2413-5844)
Abstract:

We have demonstrated in our laboratory the rudimentary sensor-driven excavation of pipes buried at shallow depths. Our system integrates sonar range sensing, a surface depth map, segmentation of pipe searching, simple digging strategies, distributed computing and off-line simulation. Our hardware is a manipulator mounted to a backhoe and a vacuum tool simulates the air jet tool intended for field excavation.

Keywords: No keywords