This paper addresses the challenge of autonomous excavation of challenging terrains, in particular those that are prone to jamming and inter-particle adhesion when tackled by a standard penetrate-drag-scoop motion pattern. Inspired by human excavation strategies, our approach incorporates oscillatory rotation elements -- including swivel, twist, and dive motions -- to break up compacted, tangled grains and reduce jamming. We also present an adaptive impedance control method, the Reactive Attractor Impedance Controller (RAIC), that adapts a motion trajectory to unexpected forces during loading in a manner that tracks a trajectory closely when loads are low, but avoids excessive loads when significant resistance is met. Our method is evaluated on four terrains using a robotic arm, demonstrating improved excavation performance across multiple metrics, including volume scooped, protective stop rate, and trajectory completion percentage.

翻译：本文针对复杂地形的自主挖掘挑战展开研究，尤其关注采用标准“贯入-拖拽-铲取”运动模式时易发生卡阻和颗粒间粘附的地质条件。受人类挖掘策略启发，我们的方法引入了振荡旋转元素——包括回转、扭转与俯冲运动——以破碎压实缠结的颗粒并减少卡阻现象。我们还提出一种自适应阻抗控制方法，即反应吸引子阻抗控制器（RAIC），该方法能在装载过程中根据意外受力情况调整运动轨迹：当负载较低时紧密跟踪预设轨迹，而在遇到显著阻力时避免产生过大负载。我们在四种地形上使用机械臂对该方法进行了评估，结果表明其在多项指标上均提升了挖掘性能，包括铲取体积、保护性停止率及轨迹完成百分比。