A Robotic Excavator Constructs a Sizable Stone Wall Independently

Constructing a wall by precisely arranging randomly shaped boulders is a task that involves considerable physical and mental effort. This challenging undertaking, ideally suited for automation, has been successfully accomplished by a robot.

The robotic entity, known as HEAP (Hydraulic Excavator for an Autonomous Purpose), is essentially a 12-ton Menzi Muck M545 walking excavator that underwent customization by a team at the ETH Zurich research institute. The modifications included integrating a GNSS global positioning system, a chassis-mounted IMU (inertial measurement unit), a control module, and LiDAR sensors placed in both its cabin and on its excavating arm.

HEAP’s 3D Mapping and Boulder Analysis

In this recent undertaking, HEAP initiated the process by surveying a construction site and generating a 3D map. It identified and documented the positions of massive boulders, each weighing several tonnes, deposited at the location. The robot then lifted each boulder, utilizing machine vision technology to assess its weight, center of gravity, and three-dimensional shape.

Subsequently, an algorithm executed on HEAP’s control module determined the optimal placement for each boulder, aiming to construct a stable dry-stone wall measuring 6 meters (20 feet) in height and 65 meters (213 feet) in length. The term “dry-stone” denotes a wall composed solely of stacked stones without the use of mortar.

HEAP’s Building Strategy and Sustainable Material Utilization

HEAP went on to construct the wall by positioning around 20 to 30 boulders during each building session. According to the researchers, this aligns with the quantity typically delivered in a single load when utilizing external rocks. Notably, a key feature of the experimental system is its ability to use locally sourced boulders or alternative building materials, eliminating the need to expend energy on transporting them from distant locations.

The findings of the study were recently documented in a paper published in the journal Science Robotics. The video below showcases HEAP in action as it stacks the boulders.

Read the original article on: New Atlas

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