DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han, Gyeol | ko |
dc.contributor.author | Seo, Dongoh | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Kwon, Tae-Hyuk | ko |
dc.date.accessioned | 2024-07-22T06:00:05Z | - |
dc.date.available | 2024-07-22T06:00:05Z | - |
dc.date.created | 2023-10-16 | - |
dc.date.issued | ACCEPT | - |
dc.identifier.citation | ACTA GEOTECHNICA | - |
dc.identifier.issn | 1861-1125 | - |
dc.identifier.uri | http://hdl.handle.net/10203/320295 | - |
dc.description.abstract | Bio-inspired robotics garners a significant interest with an aim to improve performance and efficiency in a variety of geotechnical engineering practices. Particularly, the urban environment calls for a new robotic system that can excavate and navigate freely in the subsurface. This study presents a new soft-growing robotic system, RootBot, which exploits inspiration from plant root growth to excavate with steering and directional excavation capabilities through complicated routes and confined spaces. RootBot is designed by incorporating a locomotion mechanism modeled after the plant root growth mechanisms with excavation and discharge systems inspired by tunnel boring machines. A prototype of the RootBot demonstrates several unique features and abilities including directional excavation with a planar motion, a retractive motion, and a sharp steering ability of more than 90 & DEG; rotation with a curvature radius less than twice the width of the excavation head. A series of meter-scale experiments demonstrate that the prototype RootBot can effectively excavate and advance in wet-compacted sand. It can steer at high curvature and even pull back and quarter-turn at any point along a straight path. The RootBot is expected to be useful in various geotechnical and urban engineering practices, including directional ground excavation, navigation through a complicated, curved route to pass by unexpected underground obstacles and soil removal in inaccessible and confined spaces for buried pipe repairs. | - |
dc.language | English | - |
dc.publisher | SPRINGER HEIDELBERG | - |
dc.title | RootBot: root-inspired soft-growing robot for high-curvature directional excavation | - |
dc.type | Article | - |
dc.identifier.wosid | 001068475500001 | - |
dc.identifier.scopusid | 2-s2.0-85171768239 | - |
dc.type.rims | ART | - |
dc.citation.publicationname | ACTA GEOTECHNICA | - |
dc.identifier.doi | 10.1007/s11440-023-02073-2 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.localauthor | Kwon, Tae-Hyuk | - |
dc.contributor.nonIdAuthor | Han, Gyeol | - |
dc.contributor.nonIdAuthor | Seo, Dongoh | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article; Early Access | - |
dc.subject.keywordAuthor | Bio-inspired robot | - |
dc.subject.keywordAuthor | Directional excavation | - |
dc.subject.keywordAuthor | RootBot | - |
dc.subject.keywordAuthor | Soft-growing robot | - |
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