Adaptive Tree Climbing Robot
This paper is proposed to design a tree climbing robot which makes the robot to realize the environment and climb on tree autonomously. The proposed robot is inspired by locomotion of inchworms. By the use of limit switches, the algorithm reconstructs the shape of the tree which reveals how the environment can be realized with limited information. Since the shape of trees is irregular and complex, it is a challenging task to design the robot. So the A pair of grippers attached to the robot enable it to adhere on variety of trees with wide range of gripping curvatures. The body of the robot is designed such that it can climb the tree with limited sensing resources. The robot is well-designed such that it can climb regular and irregular shaped trees.
Keywords: Continuum body, front gripper, rear gripper, limit switch
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