IBEX — A tele-operation and training device for walking excavators

Abstract

This paper describes a novel tele-operation and training device for walking excavators based on a compact 3DOF motion platform. Thanks to an innovative setup optimized for high mobility, with two lever arms for differential roll and pitch actuation as well as a continuous rotation mechanism for yaw, the movement of the remote walking excavator can be accurately replicated in any situation. For realistic yet comfortable visual feedback, three foldable screens provide a view around the unmanned excavator. With this augmented feedback, an operator can work as if he was sitting in the actual machine. The platform is successfully tested by experienced and unexperienced users. To this end, a realistic simulation using CM Labs vortex environment is implemented and a series of scenarios are tested. As such, ibex additionally serves as ideal training device for walking excavator pilots.