Circumnutation: From plants to robots

Abstract

We discuss and demonstrate how an approach used by plants can be adapted as a useful algorithm for motion planning in robotics. Specifically, we review the process of circumnutation, which is used by numerous plants, and particularly climbing vines, to explore and contact their environments. We show how circumnutation can be adapted to generate practical algorithms for motion planning for continuum tendril robots. The analysis and discussion is supported by experimental results using a robot tendril. Using circumnutation, performance of the robot is enhanced by efficiently enabling environmental contact, which helps guide and stabilize the robot.