Field and Service Robotics

Volume 25 of the series Springer Tracts in Advanced Robotics pp 555-566

Autonomous Excavation Using a Rope Shovel

  • Matthew DunbabinAffiliated withCSIRO ICT Centre
  • , Peter CorkeAffiliated withCSIRO ICT Centre

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This paper describes automation of the digging cycle of a mining rope shovel which considers autonomous dipper (bucket) filling and determining methods to detect when to disengage the dipper from the bank. Novel techniques to overcome dipper stall and the online estimation of dipper “fullness” are described with in-field experimental results of laser DTM generation, machine automation and digging using a 1/7th scale model rope shovel presented.