Prediction of Backhoe Loading Motion via the Beta-Process Hidden Markov Model
Kento Yamada,Kazunori Ohno,Ryunosuke Hamada,Thomas Westfechtel,Ranulfo Plutarco Bezerra Neto,Naoto Miyamoto,Taro Suzuki,Takahiro Suzuki,Keiji Nagatani,Yukinori Shibata,Kimitaka Asano,Tomohiro Komatsu,Satoshi Tadokoro,Kento Yamada,Kazunori Ohno,Ryunosuke Hamada,Thomas Westfechtel,Ranulfo Plutarco Bezerra Neto,Naoto Miyamoto,Taro Suzuki,Takahiro Suzuki,Keiji Nagatani,Yukinori Shibata,Kimitaka Asano,Tomohiro Komatsu,Satoshi Tadokoro
Backhoe loads sediment onto the bed of dump trucks during earthmoving work. The prediction of backhoe loading time is essential for ensuring safe cooperation between the backhoe and dump trucks. However, it is difficult to predict the instant at which the backhoe is ready to load sediment, because of the similarity in motions observed during gathering sediment. Moreover, since operators have diffe...
