Using a Soft Growing Robot as a Sensor Delivery System in Remote Environments: A Practical Case Study

Soft continuum robots are a new class of robotic devices, which are very promising for enabling measurement applications especially in remote, difficult-to-reach environments. In this work, we propose the use of a particular soft robot, which is able to evert and steer from the tip, as a sensor delivery system. The measurement system consists of two major sections: i) the robotic platform for movement purposes; and ii) the sensing part (i.e., a sensor attached to its tip to enable the measurement). As a case study of the use of the soft-growing robot as a sensor-delivery system, the transportation of a wired thermocouple towards a remote hot source was considered. The preliminary results anticipate the suitability of soft continuum robotic platforms for remote applications in confined and constrained environments

Soft Robotics and its Applications

Bakalářská práce se zabývá tématem Soft robotiky a jeho rozdělením do základních kategorií. První část práce je věnována základním informacím o této problematice, inspiracím, historii a institucím, které se touto problematikou zabývají. Následuje rozdělení Soft robotiky do kategorii. Závěr práce se věnuje současnému stavu a dalším oblastem vývoje.Bachelor thesis deals with the topic of Soft robotics its distribution into individual categories. The first part of the thesis is dedicated basic information about this issue, inspirations, history and institutions which are interested in this topic. Next follows the division of Soft robotics into categories. Last part of the thesis is devoted to the current state of Soft robotics and areas of development in this field.354 - Katedra robotikyvýborn

Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots

Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a principled foundation towards the design and implementation of living architectural systems that provide functionalities beyond those of orthodox building practice, such as self-repair, material accumulation and self-organization. Plants and robots work together to create a living organism that is inhabited by human beings. User-defined design objectives help to steer the directional growth of the plants, but also the system's interactions with its inhabitants determine locations where growth is prohibited or desired (e.g., partitions, windows, occupiable space). We report our plant species selection process and aspects of living architecture. A leitmotif of our project is the rich concept of braiding: braids are produced by robots from continuous material and serve as both scaffolds and initial architectural artifacts before plants take over and grow the desired architecture. We use light and hormones as attraction stimuli and far-red light as repelling stimulus to influence the plants. Applied sensors range from simple proximity sensing to detect the presence of plants to sophisticated sensing technology, such as electrophysiology and measurements of sap flow. We conclude by discussing our anticipated final demonstrator that integrates key features of flora robotica, such as the continuous growth process of architectural artifacts and self-repair of living architecture.Comment: 16 pages, 12 figure

Shape of an elastica under growth restricted by friction

We investigate the quasi-static growth of elastic fibers in the presence of dry or viscous friction. An unusual form of destabilization beyond a critical length is described. In order to characterize this phenomenon, a new definition of stability against infinitesimal perturbations over finite time intervals is proposed and a semi-analytical method for the determination of the critical length is developed. The post-critical behavior of the system is studied by using an appropriate numerical scheme based on variational methods. We find post-critical shapes for uniformly distributed as well as for concentrated growth and demonstrate convergence to a figure-8 shape for large lengths when self-crossing is allowed. Comparison with simple physical experiments yields reasonable accuracy of the theoretical predictions

Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration

A new class of continuum robots has recently been explored, characterized by tip extension, significant length change, and directional control. Here, we call this class of robots "vine robots," due to their similar behavior to plants with the growth habit of trailing. Due to their growth-based movement, vine robots are well suited for navigation and exploration in cluttered environments, but until now, they have not been deployed outside the lab. Portability of these robots and steerability at length scales relevant for navigation are key to field applications. In addition, intuitive human-in-the-loop teleoperation enables movement in unknown and dynamic environments. We present a vine robot system that is teleoperated using a custom designed flexible joystick and camera system, long enough for use in navigation tasks, and portable for use in the field. We report on deployment of this system in two scenarios: a soft robot navigation competition and exploration of an archaeological site. The competition course required movement over uneven terrain, past unstable obstacles, and through a small aperture. The archaeological site required movement over rocks and through horizontal and vertical turns. The robot tip successfully moved past the obstacles and through the tunnels, demonstrating the capability of vine robots to achieve navigation and exploration tasks in the field.Comment: IEEE Robotics and Automation Magazine, 2019. Video available at https://youtu.be/9NtXUL69g_

Soft Inflatable Fingers: An Overview of Design, Prototyping and Sensorisation for Various Applications

Fabric-based soft actuators, grippers and manipulators are gaining in popularity due to their ability to handle large payloads while being lightweight, extremely compliant, low-cost and fully collapsible. Achieving full-pose sensing of fabric fingers without compromising on these advantageous properties, however, remains a challenge. This paper overviews work on soft fabric-based inflatable finger design, actuation and sensorisation carried out at the Centre for Advanced Robotics at Queen Mary (ARQ), University of London. Further experimental analysis has been performed to examine features such as bending control and eversion (growing from the tip) in fabric fingers for grasping applications. In addition, two types of grasp force have been measured for a bi-fingered gripper: envelope grasping and pinch grasping. Beyond force measurement, this paper advances a new concept for the sensorisation of fabric grippers using soft optical waveguide sensors and proposes shape estimation using image processing

Payload capabilities and operational limits of eversion robots

Recent progress in soft robotics has seen new types of actuation mechanisms based on apical extension which allows robots to grow to unprecedented lengths. Eversion robots are a type of robots based on the principle of apical extension offering excellent maneuverability and ease of control allowing users to conduct tasks from a distance. Mechanical modelling of these robotic structures is very important for understanding their operational capabilities. In this paper, we model the eversion robot as a thin-walled cylindrical beam inflated with air pressure, using Timoshenko beam theory considering rotational and shear effects. We examine the various failure modes of the eversion robots such as yielding, buckling instability and lateral collapse, and study the payloads and operational limits of these robots in axial and lateral loading conditions. Surface maps showing the operational boundaries for different combinations of the geometrical parameters are presented. This work provides insights into the design of eversion robots and can pave the way towards eversion robots with high payload capabilities that can act from long distances

Robotic Barrier Construction through Weaved, Inflatable Tubes

In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots and in this context, we present a new method to steer their growth. We characterize the mechanism in terms of accuracy resilience, and, towards their use as barriers, the ability of the tubes to withstand distributed loads. We further explore an algorithm which, given a feature map and the size and direction of the external load, can determine where and how to extrude the barrier. Finally, we showcase the potential of this method in an autonomously extruded two-layer wall weaved around three pipes. While preliminary, our work indicates that this method has the potential for barrier construction in cluttered environments, e.g. shelters against wind or snow. Future work may show how to achieve tighter weaves, how to leverage weave friction for improved strength, how to assess barrier performance for feedback control, and how to operate the extrusion mechanism off of a mobile robot