1A2-A21 Development of Street Tree Climbing Robot for Pruning Branches WOODY-2 : Implementation of and Experiment on Adjust Function of Grasping Power

摘要

We are developing a street tree climbing robot which works at height instead of man. In this paper, we describe Controlling Assistant Technique with measuring the grasping power. It was difficult to make adjustment to grasping power. To simplify the operation, we installed a strain gage on each gripper to measure the grasping power. We constructed and estimated the system which limits the grasping power automatically.