Biological Approaches for Engineering Conference 17-19 March 2008

University of Southampton, Chilworth Manor, Southampton, UK

Inspiration from plant

roots: a robotic root apex
for soil exploration

Barbara Mazzolai, Paolo Corradi, Alessio Mondini, Virgilio Mattoli, Cecilia

Laschi, Silvia Taccola, Stefano Mancuso, Sergio Mugnai, Paolo Dario
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Rationale
Plants are photosynthetic, eukaryotic, multicellular organisms characterized by
an aerial part and a root system.
In an attempt to compensate for their sessile nature, they have developed growth
response to deal with the copious and rapid changes in their environment. These
responses are known as tropisms. The directional growth of plant organs in
response to a directional environmental stimulus:
Phototropism Hydrotropism Gravitropism
Phototropism: Light
Gravitropism: Gravity
Thigmotropism: Touch
Hydrotropism: Water
Chemotropism: Chemical

Font: http://virtualastronaut.jsc.nasa.gov/textonly/act25/text-plants.html

The combination of these mechanisms allows plants to

overtake hostile or inaccessible environments and colonize
the soil, leading to the generation of ramified root systems
that assure their stability and survival. 2.7 · 10-4 X (1s = 1h)
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Moreover…
… plants demonstrate to successfully reach their needs even without
a conventional locomotion system. Although plants cannot physically
move, active root growth allows exploration of soil niches for
nutrition. This implies that root apices are not only sites of nutrient
uptake but also sites of forward movement.
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Why keeping inspiration from plant’s roots to

build a robot for soil exploration?
Plants use roots to:
• penetrate soil,
• anchor themselves,
• mine the soil of minerals and water for their nourishment.

Plants explore soil in a capillary way by means of an

expanded network of roots and sensors.
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

What are the plant’s behavior and mechanisms that we

want to imitate in designing the robot for soil exploration?
1. The actuation mechanism based on an osmotic process:

Actuation - Imitating the plants strategy:

• Very low power consumption (small current
requirement)
• High modulation actuation capability (high accuracy,
resolution)
• Slow actuation
• High force/pressure actuation

2. A root apex, which includes:

• A gravity centre to drive the movements of plant roots
following the gravity stimulus (gravitropism)
• Sensors to follow a gradient of humidity in the soil
(hydrotropism)

3. A root system, which includes:

• The osmotic actuators for steering
• The sensorised robotic apex
Laschi, C, Mazzolai, B. “Introduction to Biomimetic Robotics”, Full-Day Workshop on Biomimetic Robotics (Organizers), IEEE Int Conf Robot Automat – ICRA,
April, 10-14, 2007.
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Osmotic Actuator: Scientific Problem

Osmotic pressure: van’t Hoff’s law

ΔPΩ = i ⋅ ΔC ⋅ R ⋅ T ΔPΩ – Difference of osmotic pressure T – Temperature (K)

ΔC – Difference of concentration i - van’t Hoff factor
R – Gas constant
PΩ = ρgh
EM EM Changing the concentration of ions by using a
e-
suitable current it is possible to modify the
osmotic pressure across the two cells

The difference of pressure can be

h used for actuation
M+
X-
An ionic exchange membrane is required for
+
N
charge transport
M N
X-

M+ N+

Osmotic pressure: is the hydrostatic pressure

Semi-permeable produced by a solution in a space divided by a
+ semi-permeable membrane due to a difference in
Ion-selective the concentrations of solute
Membrane
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Osmotic Actuator: Scientific Problem

Main
MainIssues:
Issues:
--How
Howtotouse
usepressure
pressurefor
foractuation?
actuation? -- Electrolytic
Electrolyticsolution?
solution?
--Membranes
Membranes(osmotic
(osmoticand
andanionic)?
anionic)? -- Performances?
Performances?
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Osmotic Actuator: Design Principles

Electrolytic solution (what properties) Cationic reduction
- Red-ox reaction must be reversible Anionic charge transport
- No affected by collateral electrochemical reactions
- No production of gas Pb+++2e- ÆÅ Pb
0

ClO4- / NO3- /CH3COO-

Membranes: osmotic / ion-selective

- Osmotic membrane for water diffusion Æ Cellulose Acetate/Polyamide Composite
- Ion-selective for charge transport Æ Functionalised PVC/Polysulfone

Expected performances of the system:

- Pressure Æ (ΔC = 1M) 20-25 atm – (20-25 Kg/cm2)
- Time scale / Velocity Æ Volumetric H2O flow ~ 10-7 m3 s-1 m-2
- Time scale / Displacement Æ Linear displacement ~ 0.1-1 mm/h
- Powers required Æ μ W ~ nW (depending of the conductibility)
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Experimental evaluation: Electrolytic process

Objective: selection of suitable electrolytic solution and ion-selective membrane

Tested Electrolytic solution Tested Anionic Membranes (charge

transport)
• Lead perchlorate - Pb(ClO4)2
• IONAC MA-3475
• Lead nitrate - Pb(NO3)2 • IONAC MA-7500
• Lead acetate - Pb(CH3COO)2
Properties to be considered
Properties to be considered • Selectivity response
• Red-ox reaction must be reversible • Electrical resistance
• Collateral electrochemical reaction • Water Permeability

Used Electrodes: Lead foil 99.99+ %

Set-up implementation:
• Two chambers divided by a septum
keeping the Anionic Membrane
• Two electrodes inserted in the two
chambers containing electrolytic solution
• A potentiostat – galvanostat
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Experimental evaluation: Osmotic process

Objective: selection of suitable electrolytic solution and osmotic membrane
Tested Osmotic Membranes
• YMCESP3001 CA (Cellulose Acetate)
• YMCFSP3001 CA (Cellulose Acetate)
• YMADSP3001 Polyamide
• YMAGSP3001 Polyamide
Properties to be considered
• Obtained osmotic pressure vs. concentrations
• Maximum osmotic pressure supported
• Water permeability (water flow)
Tested electrolytic solution
• Lead perchlorate - Pb(ClO4)2
• Lead nitrate - Pb(NO3)2
• Lead acetate - Pb(CH3COO)2
Properties to be considered
• Osmotic pressure induced
• Membrane stability respect to the
electrolytic solution

Set-up implementation:
• 2 chambers divided by a septum composed by two
grids keeping the osmotic membrane
• Different solutions at different concentrations
• Osmotic pressure measured by a differential
pressure sensor
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Experimental evaluation: results

Electrolytic test results: Selected Components:
Electrolytes Results
• Lead Acetate Æ Reversible, No Residues Lead Acetate Electrolyte
• Lead Perchlorate Æ Reversible, No Residues
• Lead Nitrate Æ Reversible, Residues IONAC MA-7500
Ion-selective Membrane
Ion Selective Membranes Results
•IONAC MA-3475 Æ Good selectivity, Higher Resistance YMCFSP3001
•IONAC MA-7500 Æ Good selectivity, Lower Resistance Cellulose Acetate
Osmotic Membrane
Osmotic test results: Osmotic membrane test with Pb(CH3COO)2 0,5 M

Electrolytes Results 3,5

• NaCl (1 molar) (Reference) Æ 11 atm in 3 hours 3

• Lead Acetate (0.5 molar) Æ 3 atm in 3 hours 2,5

Pression (atm)
• Lead Perchlorate (0.5 molar) Æ Membrane damaged 2

• Lead Nitrate (0,5 molar) Æ 1 atm in 8 hours 1,5

Osmotic Membranes Results

1

0,5
• Cellulose Acetate Æ High pressure, High water flow
0
• Polyamide Æ High pressure, Low water flow 0 50 100 150 200 250 300 350
Time (min)
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

3-Cells Osmotic Actuator

• The concept of an osmotic actuator with two cells has been extended to a 3-cells
actuator. This solution maintains the osmotic process and allows the steering
mechanism in a compact and easy way.
2
4 (1) osmotic chamber
(2) mounted grating
3
(3) osmotic membrane

1 (4) anionic membrane

• In order to rotate the root apex in each direction a mechanism with 3 pistons
have been introduced.
Spherical joint for steering

Silicon membrane

Pistons for the actuation

 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Root Apex

Root apex:

Æ rHu: humidity sensor (Hydrotropism)

Æ Accelerometer: used like a gravity sensor (Gravitropism)

Æ µC: brain-like unit, used for acquiring data by the sensors

and driving consequently the osmotic actuator
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Root Apex: moisture and gravity sensors

• Soil moisture is sensed by a resistivity measure
through three couples of electrodes placed
around the robotic root tip.
• This system allows to sense the gradient of
humidity in soil and to implement the
hydrotropism root behaviour.

• Gravity measurements are performed by a 3-axial

accelerometer, which guarantees no ambiguity in
the positioning of the root apex.

Electrodes
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Moisture Sensors Test

Sensor (Top View)
Sand
Tests performed on a sensor with 2
S2 n Water Injection point
three couples of electrodes for
(5 ml H2O on 1l soil)
measuring the soil resistance and
consequently the relative moisture. 3
Couple of
Electrodes
S3 S1

1 2 3 1
Dry soil
1.00E+07
Measured Soil Resistance

1.00E+06

1.00E+05

Electrodes for
1.00E+04 moisture sensors
0 500 1000

Time (sec)
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Root Apex Mechatronic View

(1) osmotic chambers (9) anionic membrane

(2) silicon membrane
(3) piston
(4) head
(5) screw
(6) spherical joint
(7) osmotic chamber
(8) osmotic membrane
(10) mounted grating
(11) tip screw
(12) blocking pin for joint
(13) moisture electrode
(14) cavity for electronics
(15) cavity for accelerometer
(16) apex tip
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Results
Root Apex Mechatronics

Design

Fabricated by rapid prototyping with an

inVision 3D Printer and acrylic material

First Prototype 20 mm

20 mm
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Root Apex first prototype: Electronic integration

Channel for the Electronic integration
accelerometer

Flexible
circuit

Electrodes for
moisture sensors

Main components:
Microcontroller Æ PIC18F2520 Microchip
Accelerometer Æ LIS3L02AL ST
Brass electrodes
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Apex Prototype Dimensions & Performances

Apex dimensions: Anionic membrane area
• Diameter Æ 22 mm
Osmotic membrane area
• Overall length Æ 62 mm
• Cell Volume Æ 132 mm2 Cell Volume
• Piston Area Æ 7 mm2
• Osmotic Membrane Area Æ 2 mm2
• Anionic Membrane Area Æ 2 mm2

62 mm

Apex performances:
• Piston force Æ 2.12 N @ 3 atm
• Actuation time Æ 13 hour
• Steering Æ ±13 ° 22 mm

22 mm
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Comparison between plant and robotic apex

Plant root apex Robotic apex
Zea mays
Size Few millimetres 22 mm φ; actuator height
22 mm; tip height 40 mm
Material Cells Plastics, Metals,
Electrolytic solutions and
membranes
Sensor 10 -15 Gravity
Light; water; gravity; Humidity
temperature; dissolve
oxygen; ammonium;
phosphate; impedence;
chloride; sodium; etc.
Power Adenosine triphosphate Osmotic actuators
(ATP)
Actuation Process Cells Addition Osmosis
Osmosis
Actuation Pressure 1.30 0.3 - 0.5
MPa (σmax)
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Conclusions and Current Works

„ The osmotic principle has been explored and applied for the fabrication
of a plant inspired actuator
„ The anionic (IONAC MA-3475, IONAC MA-7500) and osmotic
membranes (YMCFSP3001 CA -Cellulose Acetate- RO CF Membrane)
and the electrolyte (lead acetate) have been identified and tested
„ The osmotic actuator produces a pressure of 0.3 – 0.5 MPa
„ A robotic plant-inspired root apex has been designed and fabricated,
with a diameter of few tens of millimeters, for soil with resistance of less
than 0.3 – 0.5 MPa (e.g. clay, loam, organic matter, etc.)
„ Integration and testing of the osmotic actuators in the root apex

„ Implementation of the root behavior (hydrotropism, gravitropism)

„ Study and design of a growing mechanism for the elongation of the

robotic root (~ 0.5 - 4 mm h-1 growth velocity in real plants)
 INSPIRATION FROM PLANT ROOTS: A ROBOTIC ROOT APEX FOR SOIL EXPLORATION

Contacts

Barbara Mazzolai
CRIM Lab – Scuola Superiore Sant’Anna
V.le Rinaldo Piaggio 34 – Pontedera (PI), Italy
b.mazzolai@crim.sssup.it