Design of a Growing Robot Inspired by Plant Growth
A novel design concept of expandable robotic arm inspired by plant growth is presented. The robot can construct its own structure by converting a type of fluidized material into a rigid structure at its growing point. The robot can extend its structure in multiple directions, and move through a wind...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/127834 |
| _version_ | 1811089558998089728 |
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| author | Yan, Tongxi Teshigawara, Seiichi Asada, Haruhiko |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Yan, Tongxi Teshigawara, Seiichi Asada, Haruhiko |
| author_sort | Yan, Tongxi |
| collection | MIT |
| description | A novel design concept of expandable robotic arm inspired by plant growth is presented. The robot can construct its own structure by converting a type of fluidized material into a rigid structure at its growing point. The robot can extend its structure in multiple directions, and move through a winding space to reach a point, which is otherwise difficult to access. The robot with the rigid structure can also bear a significant load, has a plate to attach an end-effector, and can transport an object. The robot satisfies three key functional requirements that are characteristic to plant growth. First, the robot is capable of transporting structural materials to its growing point. Second, the robot is capable of transforming the material into a rigid structure. Third, it is capable of steering its growing point so that it is expanded in a desired direction. A proof-of concept prototype is then presented that consists of a special sprocket chain that can be switched between flexible/fluidized and rigid states, a winch that can pull/transport the chain, and a steering system to direct the growing direction. Unlike plants, this growing robot can retract its extended body, and can extend in a different direction. The prototype demonstrates that it meets all the functional requirements, and that it can make sharp turns and move through obstacles. |
| first_indexed | 2024-09-23T14:21:07Z |
| format | Article |
| id | mit-1721.1/127834 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T14:21:07Z |
| publishDate | 2020 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1278342022-10-01T20:47:14Z Design of a Growing Robot Inspired by Plant Growth Yan, Tongxi Teshigawara, Seiichi Asada, Haruhiko Massachusetts Institute of Technology. Department of Mechanical Engineering d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology) A novel design concept of expandable robotic arm inspired by plant growth is presented. The robot can construct its own structure by converting a type of fluidized material into a rigid structure at its growing point. The robot can extend its structure in multiple directions, and move through a winding space to reach a point, which is otherwise difficult to access. The robot with the rigid structure can also bear a significant load, has a plate to attach an end-effector, and can transport an object. The robot satisfies three key functional requirements that are characteristic to plant growth. First, the robot is capable of transporting structural materials to its growing point. Second, the robot is capable of transforming the material into a rigid structure. Third, it is capable of steering its growing point so that it is expanded in a desired direction. A proof-of concept prototype is then presented that consists of a special sprocket chain that can be switched between flexible/fluidized and rigid states, a winch that can pull/transport the chain, and a steering system to direct the growing direction. Unlike plants, this growing robot can retract its extended body, and can extend in a different direction. The prototype demonstrates that it meets all the functional requirements, and that it can make sharp turns and move through obstacles. 2020-10-07T19:59:01Z 2020-10-07T19:59:01Z 2020-01 2019-11 2020-09-21T16:26:38Z Article http://purl.org/eprint/type/ConferencePaper 9781728140049 2153-0866 https://hdl.handle.net/1721.1/127834 Yan, Tongxi et al. "Design of a Growing Robot Inspired by Plant Growth." IEEE International Conference on Intelligent Robots and Systems, November 2019, Macau, China, Institute of Electrical and Electronics Engineers, January 2020. © 2019 IEEE en http://dx.doi.org/10.1109/iros40897.2019.8968200 IEEE International Conference on Intelligent Robots and Systems Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Prof. Asada via Elizabeth Soergel |
| spellingShingle | Yan, Tongxi Teshigawara, Seiichi Asada, Haruhiko Design of a Growing Robot Inspired by Plant Growth |
| title | Design of a Growing Robot Inspired by Plant Growth |
| title_full | Design of a Growing Robot Inspired by Plant Growth |
| title_fullStr | Design of a Growing Robot Inspired by Plant Growth |
| title_full_unstemmed | Design of a Growing Robot Inspired by Plant Growth |
| title_short | Design of a Growing Robot Inspired by Plant Growth |
| title_sort | design of a growing robot inspired by plant growth |
| url | https://hdl.handle.net/1721.1/127834 |
| work_keys_str_mv | AT yantongxi designofagrowingrobotinspiredbyplantgrowth AT teshigawaraseiichi designofagrowingrobotinspiredbyplantgrowth AT asadaharuhiko designofagrowingrobotinspiredbyplantgrowth |