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Characterization of the Growing From the Tip as Robot Locomotion Strategy
Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the ex...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805678/ https://www.ncbi.nlm.nih.gov/pubmed/33501061 http://dx.doi.org/10.3389/frobt.2019.00045 |
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author | Del Dottore, Emanuela Mondini, Alessio Sadeghi, Ali Mazzolai, Barbara |
author_facet | Del Dottore, Emanuela Mondini, Alessio Sadeghi, Ali Mazzolai, Barbara |
author_sort | Del Dottore, Emanuela |
collection | PubMed |
description | Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the exploration of the environment, the tip of the robot is able to move in any direction and can be kinematically considered as a non-holonomic mobile system. In this paper, we show the kinematics of robot growing at its tip level. We also present the affordable workspace analyzed by an evaluation of feasible trajectories toward target poses. The geometrical key parameters imposing constraints on growing robots' workspace are discussed, in view of facing different possible application scenarios. The proposed kinematics was applied to a plant-inspired growing robot moving in a 3D environment in simulation, obtaining ~2 cm error after 1 m of displacement. With appropriate parametrization, the proposed kinematic model is able to describe the motion from the tip in robots able to grow. |
format | Online Article Text |
id | pubmed-7805678 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-78056782021-01-25 Characterization of the Growing From the Tip as Robot Locomotion Strategy Del Dottore, Emanuela Mondini, Alessio Sadeghi, Ali Mazzolai, Barbara Front Robot AI Robotics and AI Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the exploration of the environment, the tip of the robot is able to move in any direction and can be kinematically considered as a non-holonomic mobile system. In this paper, we show the kinematics of robot growing at its tip level. We also present the affordable workspace analyzed by an evaluation of feasible trajectories toward target poses. The geometrical key parameters imposing constraints on growing robots' workspace are discussed, in view of facing different possible application scenarios. The proposed kinematics was applied to a plant-inspired growing robot moving in a 3D environment in simulation, obtaining ~2 cm error after 1 m of displacement. With appropriate parametrization, the proposed kinematic model is able to describe the motion from the tip in robots able to grow. Frontiers Media S.A. 2019-06-20 /pmc/articles/PMC7805678/ /pubmed/33501061 http://dx.doi.org/10.3389/frobt.2019.00045 Text en Copyright © 2019 Del Dottore, Mondini, Sadeghi and Mazzolai. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Del Dottore, Emanuela Mondini, Alessio Sadeghi, Ali Mazzolai, Barbara Characterization of the Growing From the Tip as Robot Locomotion Strategy |
title | Characterization of the Growing From the Tip as Robot Locomotion Strategy |
title_full | Characterization of the Growing From the Tip as Robot Locomotion Strategy |
title_fullStr | Characterization of the Growing From the Tip as Robot Locomotion Strategy |
title_full_unstemmed | Characterization of the Growing From the Tip as Robot Locomotion Strategy |
title_short | Characterization of the Growing From the Tip as Robot Locomotion Strategy |
title_sort | characterization of the growing from the tip as robot locomotion strategy |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805678/ https://www.ncbi.nlm.nih.gov/pubmed/33501061 http://dx.doi.org/10.3389/frobt.2019.00045 |
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