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We discuss about safe tree felling methods. In previous work, tree felling robots that were equipped with cutting instruments have been investigated in order to keep workers’ safety. However, these robots may take damage when trees fall down against them. We propose a tree felling framework that maintains the workers and robots both in safe. In the proposed framework, a robot inserts a slow-acting expansion agent at the trunk of a tree. While the agent is expanding, the workers and robots escape from the tree. Also, we propose two drilling methods that are able to realize the proposed framework. In the experiments, conventional drilling methods that have been used for rocks did not divide logs. On the other hand, the proposed methods realized the divisions without any crack in the product side of them. The proposed methods were effective against standing trees too.

Safe tree felling using expansion agent