Climbing plants are being increasingly viewed as models for bioinspired growing robots capable of spanning voids and attaching to diverse substrates. We explore the functional traits of the climbing cactus Selenicereus setaceus (Cactaceae) from the Atlantic forest of Brazil and discuss the potential of these traits for robotics applications. The plant is capable of growing through highly unstructured habitats and attaching to variable substrates including soil, leaf litter, tree surfaces, rocks, and fine branches of tree canopies in wind-blown conditions. Stems develop highly variable cross-sectional geometries at different stages of growth. They include cylindrical basal stems, triangular climbing stems and apical star-shaped stems searching for supports. Searcher stems develop relatively rigid properties for a given cross-sectional area and are capable of spanning voids of up to 1 m. Optimization of rigidity in searcher stems provide some potential design ideas for additive engineering technologies where climbing robotic artifacts must limit materials and mass for curbing bending moments and buckling while climbing and searching. A two-step attachment mechanism involves deployment of recurved, multi-angled spines that grapple on to wide ranging surfaces holding the stem in place for more solid attachment via root growth from the stem. The cactus is an instructive example of how light mass searchers with a winged profile and two step attachment strategies can facilitate traversing voids and making reliable attachment to a wide range of supports and surfaces.

(Anatomy of Brazilian Cereeae (subfamily Cactoideae, Cactaceae): Arrojadoa Britton & Rose, Stephanocereus A. Berger wâBrasilicereus Backeberg). Arrojadoa, Stephanocereus and Brasilicereus are endemic Brazilian Cereeae, occurring along the Espinhaço Range, in the campos rupestres, cerrados and caatingas, from northern Minas Gerais to southern Bahia. The genera are columnar, erect to semi-erect cacti, except for one species, A bahiensis, which is globose. This study describes the anatomy of dermal, fundamental and vascular systems, aiming to find diagnostic characters for the genera and species. Basal portions of stems were sectioned transversely and longitudinally, and stained with Astrablue and Safranin. The species share a uniseriate epidermis, with thick cuticle; well developed collenchymatic hypodermis, containing prismatic crystals; cortex with numerous mucilage cells, druses and vascular bundles; outside cortex as a palisade parenchyma; periderm composed of lignified cork cells alternating with suberized cells; pheloderm consisting of a few layers of thin-walled cells; phloem composed of solitary or multiple of two to three sieve tube elements, companion cells, axial and radial parenchyma; secondary xylem with solitary to multiple vessels, with simple perforation plates and alternate bordered to semi-bordered pits; axial parenchyma scanty vasicentric to incomplete; libriform septate fibres; large rays. Unlignified parenchyma is seen in the secondary xylem, varying from a few cells to bands among axial and radial elements. The following are considered diagnostic characters: the shape of lignified phellem cells, cubic to radially elongate, which individualizes S. leucostele; an underdeveloped hypodermis and the occurrence of sclereids in the cortex are exclusive to Brasilicereus markgrqfii.