This work discusses the development and application of payload estimation for mobile hydraulic excavators. The methods and results described here are however broadly applicable to any agricultural and construction machines that interact with the environment using a mechanical manipulator. Three key requirements were laid out to define the boundary conditions for the payload estimation method. The first was derived from the standard requirement for on-board weighing scales for construction equipment, which states that the estimate should be within 1% of the full-scale value of the machine. The...