Robust Pile Loading using Sim-to-Real Transfer Learning, on Volvo LX03 (Zeux) Electric Wheel Loader
Controller Deployment and Testing (Free Motion)
Pile Loading Experiments on Light to Dense Material
Highlights
The Volvo LX03—nicknamed Zeux—is a research concept aimed at autonomous, efficient, and zero emission construction equipment. Read more about it in Section 3.1.2 of my dissertation
Data-driven calibration of kinematic model parameters, from angle sensors (rotational encoders)
Robust control taking load variations into account, without explicit load estimation / pressure sensors
Autonomous bucket actuation triggered by analyzing the EM signal and detecting when deep in pile, doesn't rely on IMUs or pressure sensors
Machine control interface over CAN (Codes:
CANAutomate)