 Similar to a flower, the robotic flower contains components such stems and leaves, with small sensors and effectors embedded in the structure.The flower robot developed at Carnegie Mellon University utilized a seven degree of freedom structure, with one used to move the stem towards the left and right, and six other for moving the leaves.Built using simple DC servos, the base structure of the robot actuates the leaves, and uses the IR sensors built in on three of its petals to track objects.