Project Squirrel 2.0: A tree climbing robot

This project continues the series of tree climbing robots intended to aid in the discovery of evidence of Asian Longhorned Beetle infestations. This robot is intended to be used by the ground crews to reduce the frequency that trees need to be climbed and investigated by humans. It is comprised of two sets of spring- loaded claws separated by a four degree of freedom linkage. An on-board camera allows the robot to be operated remotely from the ground even when the view of the robot is obstructed. The robot moves with an inchworm-like gait and has the ability to climb trees of varying diameters. On-board sensors determine the orientation of the robot with respect to the ground and the tree, as well as contact with the tree to aid in detection and avoidance of branches