The RTK and examples of its usage.

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The RTK and examples of its usage. The RTK and examples of its usage. (A) The RTK consists of four wedges: structure, actuation, sensing, and control. Each wedge can be shaded or patterned to visually describe robotic devices. (B) Application of the RTK to an organism-based robot (146, 147). The device uses a beetle as a base that provides organic structure, actuation, sensing, and control. However, it is augmented with synthetic structures and control. As a result, sensing and actuation have solid colored fills, and control and structure have striped fills. Image reprinted with permission of Springer. (C) Application of the RTK to a synthetic robot (148). Because no components are organic and the robot has all four components, each branch has a solid white fill. (D) Application of the RTK to a biohybrid device with genetically engineered components (33). The cells have been modified to respond to light; as a consequence, the sensing wedge has a dot pattern. Victoria A. Webster-Wood et al. Sci. Robotics 2017;2:eaap9281 Copyright © 2017 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works