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Development of an aerial-tethered robot for environmental monitoring
Environmental monitoring is becoming one of the fundamental challenges of our time. We are seeking to develop a novel aerial-tethered robot that uses a quadcopter as a base and multiple tethers to attach itself and move within a tree canopy for environmental monitoring.
Forest canopies are hotspots of biological diversity and contribute to the stability of world climate. With increasing human induced change comes a growing demand for large spatial and temporal data acquisition from within forest canopies to better conserve, restore and sustainably exploit these ecosystems.
At the Environmental Robotics Lab, we have developed a multimodal aerial-tethered robot [1] and are looking to extend this work with a novel robot. The new robot should be based on a quadcopter and exploit at least two tethers with grippers to attach to tree branches, with some similarity to the Reachbot [2]. With the tethers and included winches and motors, the robot will be able to move through the canopy and continuously change the branches it uses for attachment.
[1] https://www.youtube.com/watch?v=_23eK7vf_5Y&feature=youtu.be and https://www.youtube.com/watch?v=zFlatn9OcXM&t=4s
[2] T. G. Chen et al., "ReachBot: A Small Robot with Exceptional Reach for Rough Terrain," 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 4517-4523, doi: 10.1109/ICRA46639.2022.9811949.
Forest canopies are hotspots of biological diversity and contribute to the stability of world climate. With increasing human induced change comes a growing demand for large spatial and temporal data acquisition from within forest canopies to better conserve, restore and sustainably exploit these ecosystems.
At the Environmental Robotics Lab, we have developed a multimodal aerial-tethered robot [1] and are looking to extend this work with a novel robot. The new robot should be based on a quadcopter and exploit at least two tethers with grippers to attach to tree branches, with some similarity to the Reachbot [2]. With the tethers and included winches and motors, the robot will be able to move through the canopy and continuously change the branches it uses for attachment.
[1] https://www.youtube.com/watch?v=_23eK7vf_5Y&feature=youtu.be and https://www.youtube.com/watch?v=zFlatn9OcXM&t=4s
[2] T. G. Chen et al., "ReachBot: A Small Robot with Exceptional Reach for Rough Terrain," 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 4517-4523, doi: 10.1109/ICRA46639.2022.9811949.
The goal of the project is to i) develop a new strategy based on multiple tethers to locomote in the canopy, ii) turn the strategy into a mechanical design and iii) implement simple control architecture to iv) achieve a demonstration of the new robot outdoors.
**Work Packages**
- Familiarize with current state-of-the-art in tethered robots, robotic locomotion and grasping
- Develop a new strategy for locomoting within a tree canopy (combining aerial with tethered locomotion, exploiting multiple tethers and grippers to attach to branches)
- Design of the quadcopter, the winch mechanism, and the gripper
- Integration of all components into a new robot
- Development and implementation of a control architecture (based on a flight controller)
- Testing in- and outdoor
**Requirements**
- High motivation and interested in robotics for environmental research
- Background in mechanical engineering, design, materials and/or soft materials and/or manufacturing
- Knowledge in control is beneficial
- Creative and exploratory mindset
- Methodological and goal-oriented working behaviour
- Good communication skills
The goal of the project is to i) develop a new strategy based on multiple tethers to locomote in the canopy, ii) turn the strategy into a mechanical design and iii) implement simple control architecture to iv) achieve a demonstration of the new robot outdoors.
**Work Packages**
- Familiarize with current state-of-the-art in tethered robots, robotic locomotion and grasping
- Develop a new strategy for locomoting within a tree canopy (combining aerial with tethered locomotion, exploiting multiple tethers and grippers to attach to branches)
- Design of the quadcopter, the winch mechanism, and the gripper
- Integration of all components into a new robot
- Development and implementation of a control architecture (based on a flight controller)
- Testing in- and outdoor
**Requirements**
- High motivation and interested in robotics for environmental research