ICRA 2011 Paper Abstract

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Paper TuA202.3

Lam, Tin Lun (The Chinese University of Hong Kong / Shenzhen Institute of Adva), Xu, Yangsheng (Chinese University of Hong Kong / ShenzhenInstituteofAdvanced Te)

Treebot: Autonomous Tree Climbing by Tactile Sensing

Scheduled for presentation during the Regular Sessions "Climbing Robots" (TuA202), Tuesday, May 10, 2011, 10:35−10:50, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 23, 2014

Keywords Climbing robots, Robotics in Agriculture and Forestry, Field Robots

Abstract

This paper proposed an autonomous tree climbing algorithm for a novel tree climbing robot named Treebot. Making a robot realize an environment and climb on a tree autonomously is a challenging task as the shape of tree is complex and irregular. To our best knowledge, this is the first paper dealing with the autonomous climbing problem in an unknown tree environment. The proposed method is aimed to use minimal sensing resources to achieve autonomous climbing. It reconstructs the shape of tree by using tactile sensors and guides the robot to climb along an optimal path. Numerous experiments have been carried out and the results are satisfactory.

 

 

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