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dc.contributor.authorYan, Tongxi
dc.contributor.authorTeshigawara, Seiichi
dc.contributor.authorAsada, Haruhiko
dc.date.accessioned2020-10-07T19:59:01Z
dc.date.available2020-10-07T19:59:01Z
dc.date.issued2020-01
dc.date.submitted2019-11
dc.identifier.isbn9781728140049
dc.identifier.issn2153-0866
dc.identifier.urihttps://hdl.handle.net/1721.1/127834
dc.description.abstractA 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.en_US
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/iros40897.2019.8968200en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceProf. Asada via Elizabeth Soergelen_US
dc.titleDesign of a Growing Robot Inspired by Plant Growthen_US
dc.typeArticleen_US
dc.identifier.citationYan, 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 IEEEen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.departmentd'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)en_US
dc.relation.journalIEEE International Conference on Intelligent Robots and Systemsen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2020-09-21T16:26:38Z
dspace.date.submission2020-09-21T16:26:41Z
mit.licenseOPEN_ACCESS_POLICY
mit.metadata.statusComplete


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