Evaluation of Hydraulic Excavator Operator Development through Shared Control Based on Closed-Loop Characteristics

The Sustainable Development Goals (SDGs) have recently garnered increased attention. Additionally, Japan has been advocating for the achievement of "Society 5.0". In particular, the construction industry is promoting "i-Construction" which involved the automation and semi-automation of hydraulic excavators. However, some situations require human judgment, particularly during unforeseen circumstances, underscoring the need for cooperative systems between humans and machines at construction sites. To realize such systems, evaluating human operability is essential. Therefore, the proposed method conducted system identification using closed-loop operating data comprising humans and machines. Furthermore, changes in human operability were captured by evaluating the poles calculated during the process. The effectiveness of this method was experimentally verified using a hydraulic excavator. The findings demonstrated that closed-loop system identification can be performed using operational data. Additionally, the results confirmed the potential for improving the development pf hydraulic excavator operators through shared control experience.