A portable trailer stabilizer includes a support surface engagement element, a trailer engagement element, a hydraulic cylinder that extends the trailer engagement element relative to the support surface engagement element, an on-board, self-contained energy source including a hydraulic accumulator for the hydraulic cylinder, an isolation valve fluidically interposing the hydraulic cylinder and the hydraulic accumulator, a positioning element engagement element to selectively couple with a trailer stabilizer positioning element of a tractor, and a valve operator mechanism to (i) open the isolation valve when the positioning element engagement element is coupled to the trailer stabilizer positioning element of the tractor, and (ii) shut the isolation valve when the positioning element engagement element is uncoupled from the trailer stabilizer positioning element of the tractor. The hydraulic cylinder, the hydraulic accumulator, and the isolation valve are operatively connected in a closed hydraulic system containing a hydraulic fluid.

This invention provides a system and method for reliably interconnecting a native gladhand on a trailer with an AV truck, in which the gladhand can vary in placement and type on the trailer front. A visually guided robot manipulator arm accesses the trailer front. The arm includes an end effector assembly that is arranged to visually navigate to the gladhand and engage the gladhand by latching onto a gladhand using a connection tool that includes a hinged gladhand/wedge capture assembly and a pressurized clamping connection plate that selectively engages the trailer gladhand seal. The capture assembly is arranged to accommodate different gladhand geometries in latching thereonto. The connection tool includes a hinge that is spring-loaded in both a locked and unlocked bistable state, and sensors monitor the state. The system can include passive or active compliance elements that accommodate moderate misalignment between the engaged gladhand and the robotic arm/connection tool.

One variation of a method includes, during a first time period: detecting a direction of motion of a trailer; detecting a first force applied to a kingpin; detecting an incline angle of the trailer; calculating a first target preload force opposite the direction of motion and inversely proportional to the incline angle; and in response to the first force falling below the first target preload force, triggering a motor to increase torque output opposite the direction of motion. The method further includes, during a second time period: detecting a second force applied to the kingpin; detecting a decline angle of the trailer; calculating a second target preload force opposite the direction of motion and inversely proportional to the decline angle; and in response to the second force falling below the second target preload force, triggering the motor to increase torque output opposite the direction of motion.