Modular Growing Mechanism with Multi-axis Deformation
Dongdong Du, Emanuela Del Dottore, Alessio Mondini, Edoardo Sinibaldi, Barbara Mazzolai
Abstract
Plant cells expand and elongate. Their cumulative actuation defines organ morphing. Inspired by this modular transformability, this study proposes a modular concept for growing robots that will be able to grow by adding at their tip Transformable Modules (TMs). We provide a two-module implementation to evaluate the concept viability. We designed and characterized Shape-Retention Bellows (SRBs) that constitute the TM and are used to maintain the shape once the extension force is relaxed. We demonstrate module radial expansion and axial elongation in a straight and bent configuration (up to ~4°). This is the first concept of growing robots to enact the robot's modularity and transformability for future deployment in distributed growing systems capable of acting in various scenarios.
BibTeX
@inproceedings{icra2024_modulargrowingme,
title = {Modular Growing Mechanism with Multi-axis Deformation},
author = {Dongdong Du and Emanuela Del Dottore and Alessio Mondini and Edoardo Sinibaldi and Barbara Mazzolai},
booktitle = {ICRA 2024},
year = {2024}
}