Development of an Autonomous Grasping-Based Pole Climber Robot

In the modern world, robots influence human life in many aspects. The need for robots is continuously growing. One of the robots that attract the interest of researchers is the climber robot. In this study, an autonomous grasping-based pole climber robot was developed. The robot was designed not only to climb the pole but also to search the pole and manoeuvre on the floor. The robot moves autonomously on the floor and is equipped with a camera to find the position of the pole. When the camera detects a pole, the robot moves towards the pole. The robot uses a gripper mechanism to climb, and its shape is designed to be used on both cylindrical and rectangular poles. The robot uses a gripper mechanism to climb, and its shape is designed to be used on both cylindrical and rectangular poles. Tests were carried out to check the robot's performance. The average speed of the robot manoeuvre on the floor for all the tests is 12.34 cm/s. The robot's error following the track is between -9 mm to 10 mm. When the camera's orientation relative to the pole is 40°, the pole's location was strongly detected. A series of tests to check the ability of the robot to perform the task simultaneously, including walking, searching the pole, and climbing the pole, was performed. The result shows that the average speed for height of 100 cm is 159.5 s, and that of 200 cm is 296.7 s.