Abstract
This paper describes the measuring method of the soil and soil model for automated excavation. The measuring method of the soil uses reactive force data which is detected when the manipulator touches the surface of the soil and position data of end effector. From these data, the shape and the hardness of the soil are estimated. The soil model predicts the reactive force of cutting. The cutting process is devided into two stages ; the initial state and the steady state. Different models are adapted to these stages. Experiments are made to show the effectiveness of the model.
