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Real-time Two-tape Control System in Vine robots

Hanmo Liu, Kayleen Smith, Zimu Yang, Mark Yim

TL;DR

The paper tackles real-time steering of Vine robots, which must bend while remaining soft. It introduces a wrinkle-based steering method that uses externally fed material and a wrinkle-inducing end-device with a bonding mechanism and compensation to create asymmetric folds, yielding planar turns of about $21^\circ$ per wrinkle. A geometric model links wrinkle length to turning angle and a discrete Dubins-like path planner handles fixed-angle increments, enabling multi-turn trajectories despite hardware constraints. Experimental results show consistent $21^\circ$ turns with low initial error, but performance degrades with many successive wrinkles due to material shifting and air leakage; the work preserves softness and enables planar navigation, with future work targeting 3D extension, lighter hardware, and improved feeding stability and pressure control.

Abstract

This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time directional control with arbitrary many turns while maintaining the robot's soft structure. This system feeds growing material external to the tube. The design achieves fixed-angle turns in 2D space. Through experimental validation, we demonstrate repeated 21-degree turns using a Dubins path planner with minimal error, establishing a foundation for more versatile Vine robot applications. This approach combines real-time control, multi-degree-of-freedom steering, and structural flexibility, addressing key challenges in soft robotics.

Real-time Two-tape Control System in Vine robots

TL;DR

The paper tackles real-time steering of Vine robots, which must bend while remaining soft. It introduces a wrinkle-based steering method that uses externally fed material and a wrinkle-inducing end-device with a bonding mechanism and compensation to create asymmetric folds, yielding planar turns of about per wrinkle. A geometric model links wrinkle length to turning angle and a discrete Dubins-like path planner handles fixed-angle increments, enabling multi-turn trajectories despite hardware constraints. Experimental results show consistent turns with low initial error, but performance degrades with many successive wrinkles due to material shifting and air leakage; the work preserves softness and enables planar navigation, with future work targeting 3D extension, lighter hardware, and improved feeding stability and pressure control.

Abstract

This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time directional control with arbitrary many turns while maintaining the robot's soft structure. This system feeds growing material external to the tube. The design achieves fixed-angle turns in 2D space. Through experimental validation, we demonstrate repeated 21-degree turns using a Dubins path planner with minimal error, establishing a foundation for more versatile Vine robot applications. This approach combines real-time control, multi-degree-of-freedom steering, and structural flexibility, addressing key challenges in soft robotics.
Paper Structure (20 sections, 2 equations, 8 figures, 1 algorithm)

This paper contains 20 sections, 2 equations, 8 figures, 1 algorithm.

Table of Contents

  1. INTRODUCTION
  2. RELATED WORK
  3. SYSTEM DESIGN
  4. Mechanical Design
  5. Wrinkle Inducer and Bonding Arm
  6. Rollers
  7. Compensation Mechanism
  8. Workflow of Generating Wrinkles
  9. MATHEMATICAL MODELING
  10. PATH PLANNING ALGORITHM
  11. EXPERIMENTS
  12. Results
  13. Error Analysis
  14. DISCUSSION
  15. Challenges and Solutions
  16. ...and 5 more sections

Figures (8)

  • Figure 1: (a) Overview of robot. (b) CAD model of end-device.
  • Figure 2: (a)-(c): Wrinkle Inducer in a neutral configuration prior to activation (d)-(f): Two arms on each side of the wrinkle inducer are used to move the material out and create a fold.
  • Figure 3: Compensation Mechanism
  • Figure 4: Wrinkle geometric parameters
  • Figure 5: Experimental Validation of Multi-Turn Capabilities: (a) Single Right Turn (R) Demonstration, (b) Triple Consecutive Right Turns (RRR) Pattern, (c) Complex Turn Sequence (RLRLL) Demonstrating Bidirectional Control
  • ...and 3 more figures