# Autonomous Free-Form Trenching Using a Walking Excavator

> Research article (IEEE Robotics and Automation Letters, 2019) · cited 113× · AI/ML

**Wikidata**: [openalex:W2952691404](https://www.wikidata.org/wiki/openalex:W2952691404)  
**Source**: https://4ort.xyz/entity/autonomous-free-form-trenching-using-a-walking-excavator