Automation for Walking Excavators

A walking excavator has 4 legs, each with 3 degrees of freedom that enable the machine to move through and stabilize in very difficult terrain. That flexibility comes with the cost of complex operator controls.  As a result, training periods are long, and very few people can operate the machine productively and safely. To simplify control of the vehicle, Moog works with ETH Zurich University & Menzi Muck to implement a fully automated chassis control system that adjusts to the changing terrain to maintain a stable cabin orientation and ensure machine stability. The solution required force control and a closed loop response rate an order of magnitude better than is typical for mobile machinery.  The result is a reduction in operator training time and increased productivity.  The solution is also enabling completely new uses for the machine such as tele-operation for hazardous or remote environments.