Design of a Growing Robot Inspired by Plant Growth
Name
Yan_Teshigawara_Asada_IROS2019_final_submitted.pdf
Description
Accepted version
Size
4.2 MB
Format
Adobe PDF
Checksum (MD5)
d75bf2554550422ce19ff9238e7685cf
Author(s)
Yan, Tongxi
Teshigawara, Seiichi
Asada, Haruhiko
Date Issued
January 2020
Journal
IEEE International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
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
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros40897.2019.8968200
