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We trace the progression from ground and aerial systems to perching mechanisms, identifying their shared limitation as transient canopy interaction. Tether-based robots instead enable sustained presence by transforming branches into structural supports. Within this context, TreeSpider is presented as an early canopy-innate morphology. We argue that such systems point toward a broader class of structure-innate robotics, where behavior emerges through physical coupling with the environment rather than continuous free-space mobility.<\/jats:p>","DOI":"10.3389\/frobt.2026.1859773","type":"journal-article","created":{"date-parts":[[2026,9,16]],"date-time":"2026-09-16T08:02:22Z","timestamp":1789545742000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["From one tree to the canopy: an evolutionary design trajectory for tethered robotics in forest environments"],"prefix":"10.3389","volume":"13","author":[{"given":"Luca","family":"Romanello","sequence":"first","affiliation":[{"name":"Laboratory of Sustainability Robotics, EPFL - Ecole Polytechnique Federale de Lausanne","place":["Lausanne, Switzerland"]},{"name":"Laboratory of Sustainability Robotics, Empa - Swiss Federal Laboratories for Materials Science and Technology","place":["Duebendorf, Switzerland"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bahadir Basaran","family":"Kocer","sequence":"additional","affiliation":[{"name":"School of Civil, Aerospace and Design Engineering, University of Bristol","place":["Bristol, United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mirko","family":"Kovac","sequence":"additional","affiliation":[{"name":"Laboratory of Sustainability Robotics, EPFL - Ecole Polytechnique Federale de Lausanne","place":["Lausanne, Switzerland"]},{"name":"Laboratory of Sustainability Robotics, Empa - Swiss Federal Laboratories for Materials Science and Technology","place":["Duebendorf, Switzerland"]},{"name":"Aerial Robotics Lab, Department of Aeronautics, Imperial College London","place":["London, United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,9,16]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"1110","DOI":"10.3390\/rs9111110","article-title":"Hyperspectral imaging: a review on uav-based sensors, data processing and applications for agriculture and forestry","volume":"9","author":"Ad\u00e3o","year":"2017","journal-title":"Remote Sensing"},{"key":"B2","doi-asserted-by":"publisher","first-page":"98","DOI":"10.1038\/s44172-024-00241-0","article-title":"Crash-perching on vertical poles with a hugging-wing robot","volume":"3","author":"Askari","year":"2024","journal-title":"Communications Engineering"},{"key":"B3","doi-asserted-by":"publisher","first-page":"7","DOI":"10.1186\/1750-0680-8-7","article-title":"High-fidelity national carbon mapping for resource management and redd+","volume":"8","author":"Asner","year":"2013","journal-title":"Carbon Balance Manag."},{"key":"B4","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1139\/juvs-2018-0018","article-title":"Vegetation monitoring using multispectral sensors\u2014best practices and lessons learned from high latitudes","volume":"6","author":"Assmann","year":"2018","journal-title":"J. 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