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A novel brachiating, biped mobility platform for tree to tree traversal is analyzed by its kinematics and dynamics. The machine performs brachiation in the horizontal plane. Firstly, the kinematic model is derived then used to investigate the workspace of the end effector. The optimal grasping location is identified through the Yoshikawa manipulability measure. Secondly, actuator performance and limitations...
This paper outlines the design of a novel teleoperated robotic system that is proposed for the felling process of Pinus Radiata on steep terrain. The system uses arboreal locomotion similar to that used by monkeys for the method of traversal between trees which has not been used in this manner previously. Machine vision for tree recognition and optimal path planning are used to maximize the efficiency...
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