title: A plant-inspired robot with soft differential bending capabilities.
abstract: We present the design and development of a plant-inspired robot, named Plantoid, with sensorized robotic roots. Natural roots have a multi-sensing capability and show a soft bending behaviour to follow or escape from various environmental parameters (i.e., tropisms). Analogously, we implement soft bending capabilities in our robotic roots by designing and integrating soft spring-based actuation (SSBA) systems using helical springs to transmit the motor power in a compliant manner. Each robotic tip integrates four different sensors, including customised flexible touch and innovative humidity sensors together with commercial gravity and temperature sensors. We show how the embedded sensing capabilities together with a root-inspired control algorithm lead to the implementation of tropic behaviours. Future applications for such plant-inspired technologies include soil monitoring and exploration, useful for agriculture and environmental fields.
authors.affiliation: Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Pontedera, Pisa I-56025, Italy.
authors.forename: A
authors.initials: A
authors.lastname: Sadeghi
authors.forename: A
authors.initials: A
authors.lastname: Mondini
authors.forename: E
authors.initials: E
authors.lastname: Del Dottore
authors.forename: V
authors.initials: V
authors.lastname: Mattoli
authors.forename: L
authors.initials: L
authors.lastname: Beccai
authors.forename: S
authors.initials: S
authors.lastname: Taccola
authors.forename: C
authors.initials: C
authors.lastname: Lucarotti
authors.forename: M
authors.initials: M
authors.lastname: Totaro
authors.forename: B
authors.initials: B
authors.lastname: Mazzolai
mesh_terms: D000465:Algorithms; D040761:Biomimetic Materials; D032701:Biomimetics / Q000295:instrumentation*; D004867:Equipment Design; D006813:Humidity; D018521:Plant Physiological Phenomena; D018517:Plant Roots / Q000502:physiology*; D012371:Robotics; D014110:Touch; D018523:Tropism / Q000502:physiology*