We have developed autonomously moving pine-cone robots, which are made of multiple joined pine-cone scales for outdoor natural environments. We achieved these natural robots by using pine cones as both natural hygromorphic actuators and components of the mechanisms. When they are put in outdoor places where moist periods (e.g., rain) and dry periods repeatedly occur, they can move up and down on the spot or move forward. This article describes the motivation behind our research, the design and implementation of three different hygromorphic actuators, and applications for autonomously moving robots in nature.

中文翻译：

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自主移动的松果机器人：使用松果作为自然吸湿执行器和机构组件

我们开发了自主移动的松果机器人，由多个连接的松果鳞片制成，适用于户外自然环境。我们通过使用松果作为自然吸湿执行器和机构组件来实现这些自然机器人。当它们被放置在潮湿期（如雨）和干燥期反复发生的室外场所时，它们可以当场上下移动或向前移动。本文描述了我们研究背后的动机、三种不同吸湿性执行器的设计和实现，以及在自然界中自主移动机器人的应用。