1,521 research outputs found
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_
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
A Dexterous Tip-extending Robot with Variable-length Shape-locking
Soft, tip-extending "vine" robots offer a unique mode of inspection and
manipulation in highly constrained environments. For practicality, it is
desirable that the distal end of the robot can be manipulated freely, while the
body remains stationary. However, in previous vine robots, either the shape of
the body was fixed after growth with no ability to manipulate the distal end,
or the whole body moved together with the tip. Here, we present a concept for
shape-locking that enables a vine robot to move only its distal tip, while the
body is locked in place. This is achieved using two inextensible, pressurized,
tip-extending, chambers that "grow" along the sides of the robot body,
preserving curvature in the section where they have been deployed. The length
of the locked and free sections can be varied by controlling the extension and
retraction of these chambers. We present models describing this shape-locking
mechanism and workspace of the robot in both free and constrained environments.
We experimentally validate these models, showing an increased dexterous
workspace compared to previous vine robots. Our shape-locking concept allows
improved performance for vine robots, advancing the field of soft robotics for
inspection and manipulation in highly constrained environments.Comment: 7 pages,10 figures. Accepted to IEEE International Conference on
Rootics and Automation (ICRA) 202
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
Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator
© Springer Nature Switzerland AG 2019. In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is exploited to help the actuators stay under their maximum capability. The navigation algorithm is shown to outperform the potential-field-based navigation in its ability to smoothly and reactively avoid obstacles and reach the goal in simulation scenarios
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