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arxiv: 2311.01107 · v1 · submitted 2023-11-02 · 💻 cs.RO · cs.AI

GREEMA: Proposal and Experimental Verification of Growing Robot by Eating Environmental MAterial for Landslide Disaster

Yusuke Tsunoda , Yuya Sato , Koichi Osuka This is my paper

Pith reviewed 2026-05-24 05:28 UTC · model grok-4.3

classification 💻 cs.RO cs.AI
keywords growing robotenvironmental materiallandslide disasterGREEMAwater-absorbing polymersoil rigidityExplicit-Implicit control
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The pith

A compact robot can grow functional structures by taking in local water or soil to operate at landslide sites.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The paper proposes and tests GREEMA, a robot designed to travel small and light to hard-to-reach disaster zones then expand by incorporating nearby materials. Two working versions were built: one that absorbs water through a polymer to create a swimming body, and one that eats soil to stiffen an arm for greater strength. The goal is to cut the expense and delay of hauling heavy construction machines by letting one lightweight unit arrive first and grow what it needs on site. If the approach works, multiple such robots could reach blocked river channels or similar locations faster than conventional equipment.

Core claim

GREEMA actively takes in environmental materials such as water and sediment, uses them as its structure, and removes them by moving itself. Two prototypes were developed and verified: a fin-type swimming robot that passively absorbs water with a polymer to form a functional body, and an arm-type robot that eats soil to raise body rigidity. Results are analyzed through the lens of Explicit-Implicit control to outline a design theory for this class of growing robots.

What carries the argument

GREEMA, the growing robot that eats environmental material to build its own structure from water or sediment.

If this is right

  • A single small unit can reach a site and later perform removal tasks that would otherwise require several large machines.
  • Transport costs and time drop because only compact robots need to be moved before they grow on site.
  • The same growth principle could support repeated cycles of material intake and expulsion to clear blocked channels.
  • Design choices can be guided by separating explicit commands from implicit material-driven behaviors.

Where Pith is reading between the lines

These are editorial extensions of the paper, not claims the author makes directly.

  • The concept might extend to environments where carrying large equipment is impossible, such as planetary surfaces with local regolith.
  • Robots could be made to grow and shrink repeatedly as site conditions change, though that cycle is not tested here.
  • Integration of growth with sensing of local material properties would be a natural next engineering step.

Load-bearing premise

Environmental materials can be taken in and integrated reliably enough to produce stable new functions without creating safety or performance problems during real disaster work.

What would settle it

A test in which the water-absorbing robot shows no swimming motion after polymer intake or the soil-eating arm shows no measurable gain in rigidity after material intake.

Figures

Figures reproduced from arXiv: 2311.01107 by Koichi Osuka, Yusuke Tsunoda, Yuya Sato.

Figure 1
Figure 1. Figure 1: Natural dams in Totsukawa River in Nara prefec￾ture (2011)[a] Environment Robot Explicit Control Implicit Control [PITH_FULL_IMAGE:figures/full_fig_p002_1.png] view at source ↗
Figure 2
Figure 2. Figure 2: Conceptual diagram of implicit control and ex￾plicit control and taking them into its body. In Section 4, we discuss the design theory of GREEMA through these two experi￾mental results based on implicit control. Finally, Section 5 concludes the paper. 2. Experimental Verification (1): The Swim￾ming Robot by Eating Water To verify the validity of the proposed GREEMA, we developed the fish-type robot that fo… view at source ↗
Figure 3
Figure 3. Figure 3: Concept image of GREEMA (Growing Robot by Eating Environmental MAterial) Environment Robot Explicit Control Implicit Control Inner Environment [PITH_FULL_IMAGE:figures/full_fig_p003_3.png] view at source ↗
Figure 5
Figure 5. Figure 5: Developed growing robot growing by eating water:“Mizu-Kurai” to move its fins and swim 15 minutes after landing on wa￾ter [PITH_FULL_IMAGE:figures/full_fig_p003_5.png] view at source ↗
Figure 6
Figure 6. Figure 6: Control system of the “Mizu-Kurai” θr[t] = θl[t] = −60deg. This action causes the robot to move forward by paddling the water. (2) The robot maintains θr[t] = θl[t] = −60deg for 0.5s. The reason for this is to take advantage of the propul￾sive force obtained by plucking water backward with the fins. (3) Each fin is moved at an angular velocity of 100 deg/s until the angle of each fin reaches θr[t] = θl[t] … view at source ↗
Figure 7
Figure 7. Figure 7: Design of the controller of the proposed robot Next, a snapshot of the swimming experiment in case (2) is shown in [PITH_FULL_IMAGE:figures/full_fig_p004_7.png] view at source ↗
Figure 9
Figure 9. Figure 9: Snapshots of the movement of the swiming robot without superabsorbent polymers (experiment (2)) [PITH_FULL_IMAGE:figures/full_fig_p005_9.png] view at source ↗
Figure 8
Figure 8. Figure 8: Results of the swimming experiment of the pro￾posed robot robot’s torso, and the left and right fins are supported sta￾bly. In addition, [PITH_FULL_IMAGE:figures/full_fig_p005_8.png] view at source ↗
Figure 14
Figure 14. Figure 14: This mechanism will collect and transport soil in [PITH_FULL_IMAGE:figures/full_fig_p005_14.png] view at source ↗
Figure 11
Figure 11. Figure 11: Velocity of the robot in each case (red line: experiment (1), blue dashed line:experiment (2)) [PITH_FULL_IMAGE:figures/full_fig_p006_11.png] view at source ↗
Figure 12
Figure 12. Figure 12: Trajectries of the robot’s fin in each experiment (red line: experiment (1), blue dashed line:experiment (2)) 1. Robot hand with bags inside and outside 2. Robot hand grabs soil 3. Close the hand and wrap the soil inside the bag 4. Retracts the bag and captures the soil This eating method does not require excavation of earth and sand deep into the ground and can be accomplished with low-power actuators. I… view at source ↗
Figure 15
Figure 15. Figure 15: Developed growing robot growing by eating :“Tsuchi-Kurai” (2) The robot closes each gripper until its blade angle be￾comes −15deg relative to the hose length direction, as shown in the bottom figure of Fig. 16a. This eats up the sediment below the robot. (3) The DC motor is rotated to wind the wire 7cm (for about 2s), which pulls the bag inside the hose and pulls the sediment into the hose. (4) Return to … view at source ↗
Figure 18
Figure 18. Figure 18: Control system of the “Tsuchi-Kurai” [PITH_FULL_IMAGE:figures/full_fig_p008_18.png] view at source ↗
Figure 16
Figure 16. Figure 16: Opening and closing action of the gripper [PITH_FULL_IMAGE:figures/full_fig_p008_16.png] view at source ↗
Figure 17
Figure 17. Figure 17: Bag retraction mechanism by wire winding in an easily transportable object (the hose). As shown in Fig. (22), no sediment remains inside the gripper af￾ter the experiment, indicating that the acquired sediment is moved inside the hose section of the machine. Based on these results, we conclude that the proposed mech￾anism can capture sediment and transport it within the robot. Also, the reason for the dif… view at source ↗
Figure 20
Figure 20. Figure 20: The above measurements were made five times [PITH_FULL_IMAGE:figures/full_fig_p008_20.png] view at source ↗
Figure 21
Figure 21. Figure 21: Result of stiffness measurement experiment(Bar graphs are the average of all experiments, and error bars are the standard deviation) [PITH_FULL_IMAGE:figures/full_fig_p009_21.png] view at source ↗
Figure 20
Figure 20. Figure 20: Stiffness measurement experiment environment As shown in [PITH_FULL_IMAGE:figures/full_fig_p009_20.png] view at source ↗
Figure 22
Figure 22. Figure 22: Inside the gripper after the experiment the robot without SAP could not swim properly. This re￾sult can be interpreted as a weakening of implicit con￾trol due to the inadequate body structure for swimming, which prevents the robot from taking advantage of in￾teractions from the surrounding environment (water). In contrast, the robot with SAP swam more efficiently than the robot without SAP. In other words… view at source ↗
read the original abstract

In areas that are inaccessible to humans, such as the lunar surface and landslide sites, there is a need for multiple autonomous mobile robot systems that can replace human workers. In particular, at landslide sites such as river channel blockages, robots are required to remove water and sediment from the site as soon as possible. Conventionally, several construction machines have been deployed to the site for civil engineering work. However, because of the large size and weight of conventional construction equipment, it is difficult to move multiple units of construction equipment to the site, resulting in significant transportation costs and time. To solve such problems, this study proposes a novel growing robot by eating environmental material called GREEMA, which is lightweight and compact during transportation, but can function by eating on environmental materials once it arrives at the site. GREEMA actively takes in environmental materials such as water and sediment, uses them as its structure, and removes them by moving itself. In this paper, we developed and experimentally verified two types of GREEMAs. First, we developed a fin-type swimming robot that passively takes water into its body using a water-absorbing polymer and forms a body to express its swimming function. Second, we constructed an arm-type robot that eats soil to increase the rigidity of its body. We discuss the results of these two experiments from the viewpoint of Explicit-Implicit control and describe the design theory of GREEMA.

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Referee Report

3 major / 2 minor

Summary. The paper proposes GREEMA, a lightweight growing robot that eats environmental materials (water via polymer absorption; soil for rigidity) to enable functional deployment in inaccessible landslide sites, avoiding the transport costs of conventional heavy equipment. It describes the design and experimental verification of two prototypes—a fin-type swimming robot using passive water-absorbing polymer and an arm-type robot ingesting soil—framed through an Explicit-Implicit control design theory.

Significance. If the functional growth premise holds with reliable material integration, the approach could enable compact, multi-unit robot deployment for disaster response and extraterrestrial settings by leveraging local resources for on-site structural expansion. The dual-prototype exploration and control-theory framing represent a concrete step toward material-integrated robotics, though the absence of quantitative validation limits immediate impact assessment.

major comments (3)
  1. [Abstract] Abstract: the claim that 'two prototypes were developed and experimentally verified' is unsupported by any quantitative metrics (e.g., swimming speed/thrust vs. absorbed volume for the fin-type; rigidity modulus or load-bearing capacity before/after soil ingestion for the arm-type), controls, replicates, or error analysis, leaving the central verification claim at a descriptive level only.
  2. [Fin-type swimming robot experiment] Fin-type swimming robot experiment: the passive uptake mechanism is asserted to 'form a body to express its swimming function,' yet no data quantify the relationship between absorbed water volume, body geometry changes, and resulting locomotion performance, nor address variability in water chemistry or temperature.
  3. [Arm-type robot experiment] Arm-type robot experiment: the claim that soil ingestion 'increase[s] the rigidity of its body' lacks pre/post measurements of structural properties or discussion of how grain-size distribution and moisture content affect outcomes, making the functional-growth premise rest on an untested assumption of benign integration.
minor comments (2)
  1. [Discussion] The Explicit-Implicit control discussion would benefit from explicit mapping to the two experiments (e.g., which control aspects were tested and how instabilities were mitigated).
  2. [Introduction] Add references to prior work on growing or morphing robots that use environmental materials to better situate the novelty of GREEMA.

Simulated Author's Rebuttal

3 responses · 0 unresolved

We thank the referee for the constructive comments, which help clarify the scope of our experimental claims. We respond to each major comment below.

read point-by-point responses

  1. Referee: [Abstract] Abstract: the claim that 'two prototypes were developed and experimentally verified' is unsupported by any quantitative metrics (e.g., swimming speed/thrust vs. absorbed volume for the fin-type; rigidity modulus or load-bearing capacity before/after soil ingestion for the arm-type), controls, replicates, or error analysis, leaving the central verification claim at a descriptive level only.

    Authors: We agree that the experiments provide functional demonstrations rather than quantitative metrics, controls, replicates, or error analysis. The manuscript describes the prototypes achieving their intended behaviors after material intake. We will revise the abstract to state that the prototypes were developed and their core functions were experimentally demonstrated, without implying quantitative verification. A limitations paragraph will also be added. revision: yes

  2. Referee: [Fin-type swimming robot experiment] Fin-type swimming robot experiment: the passive uptake mechanism is asserted to 'form a body to express its swimming function,' yet no data quantify the relationship between absorbed water volume, body geometry changes, and resulting locomotion performance, nor address variability in water chemistry or temperature.

    Authors: The fin-type experiment illustrates the passive uptake principle through direct observation of locomotion after absorption. No quantitative data relating volume, geometry, or performance were recorded, and variability in water chemistry or temperature was not examined. We will revise the section to describe the results as qualitative demonstrations and explicitly note these unmeasured factors as limitations for future study. revision: yes

  3. Referee: [Arm-type robot experiment] Arm-type robot experiment: the claim that soil ingestion 'increase[s] the rigidity of its body' lacks pre/post measurements of structural properties or discussion of how grain-size distribution and moisture content affect outcomes, making the functional-growth premise rest on an untested assumption of benign integration.

    Authors: The arm-type experiment shows soil ingestion enabling greater rigidity via observation alone. No pre/post structural measurements were taken, and grain-size or moisture effects were not analyzed. We will revise the text to present the outcome as a conceptual demonstration, acknowledge the integration assumption, and discuss these variables as topics requiring future quantitative investigation. revision: yes

Circularity Check

0 steps flagged

No circularity; claims rest on new prototypes and experiments

full rationale

The paper proposes GREEMA as a novel concept and reports experimental verification via two physical prototypes (fin-type with polymer absorption; arm-type with soil ingestion). No equations, fitted parameters, or derivations appear. No self-citations are invoked as load-bearing premises for any result. The central claims are grounded in direct construction and testing rather than reduction to prior inputs or definitions. Weaknesses in quantitative metrics or controls (as noted by the skeptic) concern evidence strength and external validity, not circularity per the enumerated patterns.

Axiom & Free-Parameter Ledger

0 free parameters · 1 axioms · 1 invented entities

The paper rests on the domain assumption that environmental materials can serve as reliable structural elements. No free parameters or new physical entities with independent evidence are introduced beyond the robot design itself.

axioms (1)
  • domain assumption Environmental materials such as water and sediment can be incorporated into a robot's body to enable growth and functional movement
    Invoked in the description of both GREEMA prototypes and their intended operation at landslide sites.
invented entities (1)
  • GREEMA design concept no independent evidence
    purpose: A growing robot that uses environmental materials for structure in inaccessible disaster areas
    New robot architecture introduced to solve transport and deployment problems.

pith-pipeline@v0.9.0 · 5790 in / 1295 out tokens · 31049 ms · 2026-05-24T05:28:07.322661+00:00 · methodology

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Reference graph

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