Abstract: Embodiments disclosed herein relate to an autonomous work excavator and an operation method therefor. According to an embodiment, an excavator comprises a front work device including an arm, a boom, and a bucket; a sensor device configured to collect state information of the excavator and information related to the surrounding environment; and a processor electrically connected to the front work device and the sensor device. The processor is configured to perform a digging operation based on a work instruction such that soil is loaded in the bucket; calculate a zero-moment point of a force acting on the excavator based on mass information on at least a portion of the front work device after the digging operation has been performed; and obtain a work trajectory for processing the soil loaded in the bucket by using the ZMP and the information related to surrounding environment.

Abstract: In a method of controlling construction machinery, a bucket of a working device is moved along a first excavation trajectory to perform an excavation operation on the ground of a work area. A digging force exerted on the bucket during the excavation operation is calculated. A new second excavation trajectory is generated based on the calculated digging force. The bucket is moved along the second excavation trajectory.

Abstract: In a method of controlling construction machinery, a bucket of a working device is moved along a first excavation trajectory to perform an excavation operation on the ground of a work area. A digging force exerted on the bucket during the excavation operation is calculated. A new second excavation trajectory is generated based on the calculated digging force. The bucket is moved along the second excavation trajectory.

Abstract: A tactile feedback generating apparatus, which applies a tactile feedback to a hand of a user according to an interaction with a virtual object in a virtual space, includes a finger tactile feedback device configured to provide a tactile feedback to a finger, and a palm tactile feedback device configured to provide a pressurized tactile feedback to a palm, wherein the palm tactile feedback device includes at least one pressurizing module disposed at the palm, and wherein the at least one pressurizing module converts a rotational operation into a linear movement to pressurize or release the palm.

Abstract: A tactile feedback generating apparatus, which applies a tactile feedback to a hand of a user according to an interaction with a virtual object in a virtual space, includes a finger tactile feedback device configured to provide a tactile feedback to a finger, and a palm tactile feedback device configured to provide a pressurized tactile feedback to a palm, wherein the palm tactile feedback device includes at least one pressurizing module disposed at the palm, and wherein the at least one pressurizing module converts a rotational operation into a linear movement to pressurize or release the palm.