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. This gives us the chance to study new multi-modal robots that can access, maneuver and acquire data inside canopies.
Small scansorial animals, such as squirrels, are incredibly fast and effective at climbing trees and traversing branches. The sharp claws at front and hind legs penetrate the substrate and serve as anchor points, allowing the squirrel to quickly maneuver dense and unstructured environments and even run headfirst down trees. While current state-of-the-art climbing robots can lift large payloads when climbing on smooth and artificial surfaces, few designs are capable of adhering to the natural environment and climbing vertically at the same time. In this project we plan to develop a tree climbing robot that can recreate the strong adhesion seen in scansorial animals but also move in three-dimensional space.
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. This gives us the chance to study new multi-modal robots that can access, maneuver and acquire data inside canopies.
Small scansorial animals, such as squirrels, are incredibly fast and effective at climbing trees and traversing branches. The sharp claws at front and hind legs penetrate the substrate and serve as anchor points, allowing the squirrel to quickly maneuver dense and unstructured environments and even run headfirst down trees. While current state-of-the-art climbing robots can lift large payloads when climbing on smooth and artificial surfaces, few designs are capable of adhering to the natural environment and climbing vertically at the same time. In this project we plan to develop a tree climbing robot that can recreate the strong adhesion seen in scansorial animals but also move in three-dimensional space.
This project aims at advancing current technology in the area of tree climbing robots by exploring new and innovative design approaches (e.g. soft robots, smart materials). The goal is to develop a tree climbing robot made of an extendable and flexible robot body that can: _(i)_ firmly adhere to irregular tree surfaces, _(ii)_ climb vertically on these surfaces and _(iii)_ be steerable to allow trunk-to-branch and branch-to-branch transition.
**Work Packages**:
- Familiarization with state-of-the-art climbing robots, manipulators and soft robot technology
- Formalization of the system requirements
- Development of a grasping / adhesion mechanisms
- Development of a steerable robot body
- Development of a control strategy to steer the body and transition from stem-to-branch / branch-to-branch
- Integration and testing
Depending on the interest of the student, a focus can be put on certain work packages.
This project aims at advancing current technology in the area of tree climbing robots by exploring new and innovative design approaches (e.g. soft robots, smart materials). The goal is to develop a tree climbing robot made of an extendable and flexible robot body that can: _(i)_ firmly adhere to irregular tree surfaces, _(ii)_ climb vertically on these surfaces and _(iii)_ be steerable to allow trunk-to-branch and branch-to-branch transition.
**Work Packages**:
- Familiarization with state-of-the-art climbing robots, manipulators and soft robot technology - Formalization of the system requirements - Development of a grasping / adhesion mechanisms - Development of a steerable robot body - Development of a control strategy to steer the body and transition from stem-to-branch / branch-to-branch - Integration and testing
Depending on the interest of the student, a focus can be put on certain work packages.
Please send your CV and transcript of records by mail to: steffen.kirchgeorg@usys.ethz.ch
Please send your CV and transcript of records by mail to: steffen.kirchgeorg@usys.ethz.ch