Emanuela Del Dottore

Emanuela Del Dottore
Istituto Italiano di Tecnologia | IIT · Center for Micro-BioRobotics

Doctor of BioRobotics

About

38
Publications
15,314
Reads
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466
Citations
Citations since 2017
34 Research Items
465 Citations
2017201820192020202120222023020406080100120
2017201820192020202120222023020406080100120
2017201820192020202120222023020406080100120
2017201820192020202120222023020406080100120
Introduction
Emanuela Del Dottore currently works as PostDoc at Istituto Italiano di Tecnologia. Emanuela does research in Behavior Analysis, Artificial Intelligence, Algorithms, and Communication and Control Strategies for Robots inspired by Plants.

Publications

Publications (38)
Preprint
Full-text available
Plants growth is a complex and delicate balance among different factors involving environmental and physiological conditions. In this context, we propose a mechanistic model that considers the main internal processes of plant growth and reproduces a wide range of plant behaviors observed experimentally. In particular, we describe the model plant of...
Article
Full-text available
As miscellaneous as the Plant Kingdom is, correspondingly diverse are the opportunities for taking inspiration from plants for innovations in science and engineering. Especially in robotics, properties like growth, adaptation to environments, ingenious materials, sustainability, and energy-effectiveness of plants provide an extremely rich source of...
Article
Full-text available
Soil is a crucial resource for life on Earth. Every activity, whether natural or man-made, that interacts with the sub or deep soil can affect the land at large scales (e.g., geological risks). Understanding such interactions can help identify more sustainable and less invasive soil penetration, exploration, and monitoring solutions. Over the years...
Article
Full-text available
Envisioning a rethink of the design of robotic systems is necessary for a step-change in developing more sustainable and efficient artificial machines. Recent trends in robotics have embraced the idea of taking inspiration from plants to create energy-efficient components, self-morphing growing robots, biodegradable robots, and the definition of no...
Article
Full-text available
The plant root system shows remarkably complex behaviors driven by environmental cues and internal dynamics, whose interplay remains largely unknown. A notable example is circumnutation growth movements, which are growth oscillations from side to side of the root apex. Here we describe a model capable of replicating root growth behaviors, which we...
Article
Full-text available
A broad diversity of biological organisms and systems interact with soil in ways that facilitate their growth and survival. These interactions are made possible by strategies that enable organisms to accomplish functions that can be analogous to those required in geotechnical engineering systems. Examples include anchorage in soft and weak ground,...
Chapter
Full-text available
In this work, we present an image-based method based on 2D piece-wise clothoid for curvature approximation, that is used to analyse the morphology of natural tendrils. Starting from our previous work, here we present an advancement of the sorting skeletonization algorithm which now can handle abrupt changes in the direction of the extracted points....
Article
Removal of heavy metals can be achieved through the adsorption of metal ions onto the surfaces of various materials and composites that either have such properties naturally or are modified to obtain those capabilities. Sodium alginate (SA), a marine polysaccharide, is well known for its heavy metal adsorption ability. In this work, we combined pol...
Article
Full-text available
This paper aims to propose a novel approach to model the dynamics of objects that move within the soil, e.g. plants roots. One can assume that external forces are significant only at the tip of the roots, where the plant's growth is actuated. We formulate an optimal control problem that minimises the energy spent by a growing root subject to physic...
Article
Full-text available
In plant-fungus phenotyping, determining fungal hyphal and plant root lengths by digital image analysis can reduce labour and increase data reproducibility. However, the degree of software sophistication is often prohibitive and manual measuring is still used, despite being very time-consuming. We developed the HyLength tool for measuring the lengt...
Conference Paper
Full-text available
This paper proposes an image-based approach to reconstruct the shape of continuum biological (e.g., tendrils of climbing plants) and artificial (continuum soft robots) structures which can deform into coils or curls with variable curvature that depends on the arc length. The proposed method is based on 2D clothoid curves, for which we explore two r...
Article
Full-text available
One of the major challenges in robotics and engineering is to develop efficient technological solutions that are able to cope with complex environments and unpredictable constraints. Taking inspiration from natural organisms is a well-known approach to tackling these issues. Climbing plants are an important, yet innovative, source of inspiration du...
Preprint
Full-text available
This paper aims to propose a novel approach to model the dynamics of objects that move within the soil, e.g. plants roots. Since it can be assumed that external forces are significant only at the tip of the roots, where the plant's growth is actuated, we have formulated an optimal control problem that minimises the energy spent by a growing root su...
Preprint
This paper aims to propose a novel approach to model the dynamics of objects that move within the soil, e.g. plants roots. Since it can be assumed that external forces are significant only at the tip of the roots, where the plant's growth is actuated, we have formulated an optimal control problem that minimises the energy spent by a growing root su...
Chapter
The transfer of robots from inside of factories to the external unstructured world has generated new functional needs in robotics. The adaptation of bodies and behavior become fundamental features to guarantee a safe interaction between robots, humans, and environment, while managing unpredictable conditions. Soft robotics and bioinspiration are re...
Article
Full-text available
Octopuses have impressive manipulation capabilities empowered by the intrinsic adaptation of their soft arms combined with distributed suckers. Drawing inspiration from the arm morphology and abilities of the octopus, this paper presents the integrated design of a conical soft robotic arm endowed with suction cups. The proposed arm exploits soft ro...
Article
Full-text available
This article presents strategies for the passive path and morphological adaptation of a plant-inspired growing robot that can build its own body by an additive manufacturing process. By exploiting the soft state of the thermoplastic material used by the robot to build its structure, we analyzed the ability of the robot to change its direction of gr...
Article
Soft Robotics: In article number 1900041, Barbara Mazzolai, and co‐workers present an octopus‐inspired soft arm with suction cups to retrieve objects from confined environments. The proposed solution benefits both from the arm conformability and the improved grasping force generated by suction cups. Starting from the investigation of the octopus' m...
Article
Full-text available
Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the exploration of the environment, the tip of the robot...
Preprint
Full-text available
Plants are far from being passive organisms being able to exhibit complex behaviours in response to environmental stimuli. How these stimuli are combined, triggered and managed is still an open and complex issue in biology. Mathematical models have helped in understanding some of the pieces in the complexity of intra-plant communication, but a larg...
Chapter
This paper presents a new design for material extrusion as embeddable additive manufacturing technology for growing robots inspired by plant roots. The conceptual design is proposed and based on the deposition of thermoplastic material a complete layer at a time. To guide the design of the system, we first studied the thermal properties through app...
Data
In this paper we describe the conceptual design and implementation of the SIMBA manipulator, designed and developed for participating in the RoboSoft Grand Challenge 2016. In our novel design we have proposed: 1) a modular continuum arm with independent actuation units for each module, to increase maintainability; 2) a soft reconfigurable hand, for...
Article
Full-text available
This paper provides the very first definition of “growing robots”: a category of robots that imitates biological growth by the incremental addition of material. Although this nomenclature is quite new, the concept of morphological evolution, which is behind growth, has been extensively addressed in engineering and robotics. In fact, the idea of rep...
Cover Page
Full-text available
We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is cha...
Article
Full-text available
We present the basic module of a modular continuum arm (SIMBA). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a c...
Article
Full-text available
This paper presents a plant root behavior-based approach to defining the control architecture of a plant-root-inspired robot, which is composed of three root-agents for nutrient uptake and one shoot-agent for nutrient redistribution. By taking inspiration and extracting key principles from the uptake of nutrient, movements and communication strateg...
Article
Full-text available
This paper presents a comparative analysis in terms of energy required by an artificial probe to penetrate soil implementing two different strategies: a straight penetration movement; and a circumnutation, which is a peculiar root movement in plants. The role of circumnutations in plant roots is still reason of debate. We hypothesized that circumnu...
Article
Full-text available
In this paper we describe the conceptual design and implementation of the SIMBA manipulator, designed and developed for participating in the RoboSoft Grand Challenge 2016. In our novel design we have proposed: 1) a modular continuum arm with independent actuation units for each module, to increase maintainability; 2) a soft reconfigurable hand, for...
Article
Full-text available
We present the design and development of a plant-inspired robot, named Plantoid, with sensorized robotic roots. Natural roots have a multi-sensing capability and show a soft bending behaviour to follow or escape from various environmental parameters (i.e., tropisms). Analogously, we implement soft bending capabilities in our robotic roots by design...
Article
Full-text available
In recent years, robotics has been influenced by a new approach, soft-robotics, bringing the idea that safe interaction with user and more adaptation to the environment can be achieved by exploiting easily deformable materials and flexible components in the structure of robots. In 2016, the soft-robotics community has promoted a new robotics challe...
Conference Paper
Media aggregators combine the convenience of the RSS information feeds with the capabilities of media sharing and distribution. Personal media aggregators not only provide a way to create, store and distribute thematic content but also allow users to customize the way material is collected, transformed and further distributed. We present the archit...

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Projects

Projects (4)
Archived project
Spyro' is engaged with two soft hemispherical wheels each fabricated using silicone and textiles-based materials to have more adaptability to varying terrain. Since the softness guarantees compliancy with two internal chambers, powered and selectively actuated by pneumatics separated by thin membrane of silicone. The respective chambers are inflated and deflated in different combinations in order to have better adaptability during locomotion with unstructured terrain and rugged obstacles.
Project
In recent years, soft robotics is proposing a new paradigm to shift from robots with rigid links to bioinspired continuum robots that are able to actively interact with the environment and undergo large deformations relying on inherent or structural compliance. The morphological adaptation of these soft systems can reduce control complexity and enable new abilities. Among many, one of the major challenge in soft robotics is to develop soft machines that can grasp varied and complex-shaped objects in difficult and unstructured environments where standard approaches could be too complex to control or not easily adaptable.
Project
Design and modeling of module soft manipulator and testing in unstructured environment.