Treebot: Autonomous Tree Climbing by Tactile Sensing
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 .rst 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.
Tin Lun Lam Yangsheng Xu
Shenzhen Institutes of Advanced Technology,Shenzhen,Guangdong,China and the Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong,China
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
789-794
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）