Apr 23, 2020

A general 3D model for growth dynamics of sensory-growth systems: from plants to robotics

BioRxiv : the Preprint Server for Biology
A. PoratYasmine Meroz

Abstract

In recent years there has been a rise in interest in the development of self-growing robotics inspired by the moving-by-growing paradigm of plants. In particular, climbing plants capitalize on their slender structures to successfully negotiate unstructured environments, while employing a combination of two classes of growth-driven movements: tropic responses, which direct growth in the direction of an external stimulus, and inherent nastic movements, such as periodic circumnutations, which promote exploration. In order to emulate these complex growth dynamics in a 3D environment, a general and rigorous mathematical framework is required. Here we develop a general 3D model for rod-like organs adopting the Frenet-Serret frame, providing a useful framework from the standpoint of robotics control. Differential growth drives the dynamics of the organ, governed by both internal and external cues. We describe the numerical method required to implement this model, and perform numerical simulations of a number of key scenarios, showcasing the applicability of our model. In the case of responses to external stimuli, we consider a distant stimulus (such as sunlight and gravity), a point stimulus (a point light source), and a line stimulus...Continue Reading

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Mentioned in this Paper

Establishment and Maintenance of Localization
Learning
Phenotype Determination
Paradigm
Phenotyping (Qualifier Value)
Plant Roots

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