Cargando…

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...

Descripción completa

Detalles Bibliográficos
Autores principales: Del Dottore, Emanuela, Mondini, Alessio, Sadeghi, Ali, Mazzolai, Barbara
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2019
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
_version_ 1783636355198222336
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
work_keys_str_mv AT deldottoreemanuela characterizationofthegrowingfromthetipasrobotlocomotionstrategy
AT mondinialessio characterizationofthegrowingfromthetipasrobotlocomotionstrategy
AT sadeghiali characterizationofthegrowingfromthetipasrobotlocomotionstrategy
AT mazzolaibarbara characterizationofthegrowingfromthetipasrobotlocomotionstrategy