Tendril-Based Climbing Plants to Model, Simulate and Create Bio-Inspired Robotic Systems  

作　　者：Renato Vidoni Tanja Mimmo Camilla Pandolfi 

机构地区：[1]Faculty of Science and Technology, Free University of Bolzano, Piazza universith, 3 91 O0 Bolzano, Italy [2]European Space Agency-Advanced Concepts Team, Estec, Noordwjik, Netherlands

出　　处：《Journal of Bionic Engineering》2015年第2期250-262,共13页仿生工程学报（英文版）

摘　　要：Bioinspiration can be considered one of the keys for future smart and versatile robotic systems. Plants could be an im- portant source of ideas despite the fact that they have not yet been deeply observed and considered. In this paper, climbing tendril-bearer plants that, by means of irritable filiform organs called tendrils, search for a support, grasp it and climb to gain height, have been used to study and develop an effective climbing robot. The study aimed first to evaluate the main movements and behaviors of the tendril from a biomimetic point of view. The tendril complexity was then simplified, a robotic model was developed and a kinematic simulator was designed and implemented to visualize and evaluate the chosen system. Finally, based on the biological, technical and numerical evaluations, the main tendril behaviors were replicated by proof of concept devices made of smart materials to move towards a practical realization and to replicate the simulated results. The designed proof of concept prototypes showed food repeatability and feasibility.Bioinspiration can be considered one of the keys for future smart and versatile robotic systems. Plants could be an im- portant source of ideas despite the fact that they have not yet been deeply observed and considered. In this paper, climbing tendril-bearer plants that, by means of irritable filiform organs called tendrils, search for a support, grasp it and climb to gain height, have been used to study and develop an effective climbing robot. The study aimed first to evaluate the main movements and behaviors of the tendril from a biomimetic point of view. The tendril complexity was then simplified, a robotic model was developed and a kinematic simulator was designed and implemented to visualize and evaluate the chosen system. Finally, based on the biological, technical and numerical evaluations, the main tendril behaviors were replicated by proof of concept devices made of smart materials to move towards a practical realization and to replicate the simulated results. The designed proof of concept prototypes showed food repeatability and feasibility.

关 键 词：climbing plants robotic tendril kinematic model Shape-Memory-Alloy （SMA） GRASPING 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S687.3[自动化与计算机技术—控制科学与工程]