1A1-E08 Development of Tree Climbing and Pruning Robot,Woody-1 : Simplification of Control using adjust Function of Grasping Power

摘要

We are developing a tree climbing robot named WOODY in order to support the forestry works. In this paper, we show the control system of the robot which makes it easy and safe to operate the robot. First, to automate the maneuvering motion, we installed the leaf spring on each arm to measure the grasping power. Next, to operate the robot under the tree, we equipped a CCD camera and micro-controller into the robot. We carried out some experiments and confirmed the advantage of the system.