一种可空中投放的爬行机器人，能在树冠中自适应攀爬抓取。
AMBER: A tether-deployable gripping crawler with compliant microspines for canopy manipulation
- 用柔性微棘爪轨道和弹性尾部实现多曲率树枝的稳定抓附。
- 可在67.5度倾角枝干上爬行，最高速度达0.55体长/秒。
- 低功耗设计，适合长期环境监测，适合树冠探测任务。
本文提出一种可空中部署的爬行机器人，用于树冠内自适应移动与操作。系统结合柔性微棘爪轨道、双轨旋转夹持器与弹性尾部，可在不同曲率与倾角的枝干上实现稳固附着与稳定穿越。实验表明，其可在90°体滚转与倾斜条件下可靠抓握，沿最大67.5°倾角枝干有效攀爬，水平枝干上最高速度达0.55体长/秒。柔性轨道支持高达10°的偏航转向，提升不规则表面机动性。功耗测量显示，其无量纲运输成本低于典型飞行机器人的悬停功耗一个数量级。该爬行器为环境采样与树冠内传感提供稳健、低功耗平台。空中投放已在概念与可行性层面验证，完整无人机-爬行器集成留待未来工作。
原文摘要 · Abstract (English)
This paper presents an aerially deployable crawler designed for adaptive locomotion and manipulation within tree canopies. The system combines compliant microspine-based tracks, a dual-track rotary gripper, and an elastic tail, enabling secure attachment and stable traversal across branches of varying curvature and inclination. Experiments demonstrate reliable gripping up to 90$^\circ$ body roll and inclination, while effective climbing on branches inclined up to 67.5$^\circ$, achieving a maximum speed of 0.55 body lengths per second on horizontal branches. The compliant tracks allow yaw steering of up to 10$^\circ$, enhancing maneuverability on irregular surfaces. Power measurements show efficient operation with a dimensionless cost of transport over an order of magnitude lower than typical hovering power consumption in aerial robots. The crawler provides a robust, low-power platform for environmental sampling and in-canopy sensing. The aerial deployment is demonstrated at a conceptual and feasibility level, while full drone-crawler integration is left as future work.
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