相关论文: A light- and heat-seeking vine-inspired robot with…
The request for fast response and safe operation after natural and man-made disasters in urban environments has spurred the development of robotic systems designed to assist in search and rescue operations within complex rubble sites.…
Robot performance has advanced considerably both in and out of the factory, however in tightly constrained, unknown environments such as inside a jet engine or the human heart, current robots are less adept. In such cases where a borescope…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Rehabilitation of aging pipes requires accurate condition assessment and mapping far into the pipe interiors. Soft growing vine robot systems are particularly promising for navigating confined, sinuous paths such as in pipes, but are…
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
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…
Biomimetic intelligence and robotics are transforming field ecology by enabling lifelike robotic surrogates that interact naturally with animals under real world conditions. Studying avian behavior in the wild remains challenging due to the…
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
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 skin of humanoid robots often lacks human tactility and the inherent self-repair capability of biological tissues. Recently, researchers have grown a living, self-healing skin on a robot finger by subsequent culturing of human dermal…
Plants offer a paradoxical model for interaction: they are ambient, low-demand presences that nonetheless shape atmosphere, routines, and relationships through temporal rhythms and subtle expressions. In contrast, most human-robot…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
Soft, growing vine robots are well-suited for exploring cluttered, unknown environments, and are theorized to be performant during structural collapse incidents caused by earthquakes, fires, explosions, and material flaws. These vine robots…
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometries. Vine robots, which are soft growing…
Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot designed to address certain challenges in relation to navigating…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
Developing soft robots that can control their own life-cycle and degrade on-demand while maintaining hyper-elasticity is a significant research challenge. On-demand degradable soft robots, which conserve their original functionality during…