Autonomous Sheet Pile Driving Robots for Soil Stabilization
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CitationMelenbrink, Nathan, and Justin Werfel. Autonomous Sheet Pile Driving Robots for Soil Stabilization. In proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20-24, 2019.
AbstractAbstract— Soil stabilization is a fundamental component of nearly all construction projects, ranging from commercial construction to environmental restoration projects. Previous work in autonomous construction has generally not considered these essential stabilization and anchoring tasks. In this work we present Romu, an autonomous robot capable of building continuous linear structures by using a vibratory hammer to drive interlocking sheet piles into soil. We report on hardware parameters and their effects on pile driving performance, and demonstrate autonomous operation in both controlled
and natural environments. Finally, we present simulations in which a small swarm of robots build with sheet piles in example terrains, or apply an alternate spray-based stabilizing agent, and quantify the ability of each intervention to mitigate hydraulic erosion.
Citable link to this pagehttp://nrs.harvard.edu/urn-3:HUL.InstRepos:38811567
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