Dataset Information

Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing.

ABSTRACT: This article presents strategies for the passive path and morphological adaptation of a plant-inspired growing robot that can build its own body by an additive manufacturing process. By exploiting the soft state of the thermoplastic material used by the robot to build its structure, we analyzed the ability of the robot to change its direction of growth without the need for specific cognition and control processes. Obstacle avoidance is computed by the mechanics from the body-environment interaction. The robot can passively adapt its body to flat obstacles with an inclination of up to 50° with resulting reaction forces of up to ∼10 N. The robot also successfully performs penetration and body adaptation (with 30° obstacle inclination) in artificial soil and in a rough unstructured environment. This approach is founded on observing plant roots and how they move and passively adapt to obstacles in soil before they actively respond followed by cell division-based growth.

SUBMITTER: Sadeghi A

PROVIDER: S-EPMC7049936 | biostudies-literature | 2020 Feb

REPOSITORIES: biostudies-literature

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Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing.

Sadeghi Ali A Del Dottore Emanuela E Mondini Alessio A Mazzolai Barbara B

Soft robotics 20191008 1

This article presents strategies for the passive path and morphological adaptation of a plant-inspired growing robot that can build its own body by an additive manufacturing process. By exploiting the soft state of the thermoplastic material used by the robot to build its structure, we analyzed the ability of the robot to change its direction of growth without the need for specific cognition and control processes. Obstacle avoidance is computed by the mechanics from the body-environment interact ...[more]

PMID: 31592712

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Project description:Additively manufactured Ti scaffolds have been used for bone replacement and orthopaedic applications. In these applications, both morphological and mechanical properties are important for their in vivo performance. Additively manufactured Ti6Al4V triply periodic minimal surface (TPMS) scaffolds with diamond and gyroid structures are known to have high stiffness and high osseointegration properties, respectively. However, morphological deviations between the as-designed and as-built types of these scaffolds have not been studied before. In this study, the morphological and mechanical properties of diamond and gyroid scaffolds at macro and microscales were examined. The results demonstrated that the mean printed strut thickness was greater than the designed target value. For diamond scaffolds, the deviation increased from 7.5 μm (2.5% excess) for vertical struts to 105.4 μm (35.1% excess) for horizontal struts. For the gyroid design, the corresponding deviations were larger, ranging from 12.6 μm (4.2% excess) to 198.6 μm (66.2% excess). The mean printed pore size was less than the designed target value. For diamonds, the deviation of the mean pore size from the designed value increased from 33.1 μm (-3.0% excess) for vertical struts to 92.8 μm (-8.4% excess) for horizontal struts. The corresponding deviation for gyroids was larger, ranging from 23.8 μm (-3.0% excess) to 168.7 μm (-21.1% excess). Compressive Young's modulus of the bulk sample, gyroid and diamond scaffolds was calculated to be 35.8 GPa, 6.81 GPa and 7.59 GPa, respectively, via the global compression method. The corresponding yield strength of the samples was measured to be 1012, 108 and 134 MPa. Average microhardness and Young's modulus from α and β phases of Ti6Al4V from scaffold struts were calculated to be 4.1 GPa and 131 GPa, respectively. The extracted morphology and mechanical properties in this study could help understand the deviation between the as-design and as-built matrices, which could help develop a design compensation strategy before the fabrication of the scaffolds.

Dataset Information

Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing.

Publications

Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing.

Similar Datasets

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