Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration (1903.00069v3)

Abstract: 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.

• The paper introduces a novel vine robot that grows via pneumatically driven eversion, enabling precise navigation in confined spaces.
• The design integrates an improved actuator and a custom flexible joystick with real-time camera feedback for enhanced control.
• Field deployments in a robotics competition and archaeological tunnels validate its practical performance in challenging terrains.

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

The paper "Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration" introduces an innovative class of continuum robots, termed "vine robots," which leverage growth-based movement inspired by trailing plants. These robots are distinguished by their ability to perform significant length changes and maintain directional control without moving their entire body relative to the environment. Unlike traditional continuum robots, vine robots grow by material eversion from their tip, facilitated by internal air pressure—a method known as pneumatically driven eversion. This mechanism presents several strategic advantages such as flexibility in navigating complex or constrained environments, non-destructive exploration, and reduced environmental interference.

Key Contributions

The paper outlines a comprehensive and field-ready vine robot system that integrates the strengths of previous designs with additional enhancements. Critical contributions include:

• Steerable and Portable System: Development of a fully deployable system capable of teleoperated control, extended to arbitrary lengths from a compact base.
• Enhanced Actuator Design: The paper presents an improved steerable actuator design using heat-sealed, body-length actuators attached with double-sided tape.
• Efficient Camera Integration: Integration of a tip-mounted camera with an innovative wire management system using a zipper pocket, allowing for real-time visual feedback.
• Growth Control Mechanism: Implementation of a robust control mechanism to manage vine robot growth speed using an antagonistic growth control approach leveraging a motor.
• Teleoperation Device: Introduction of a custom flexible joystick for precise teleoperation, facilitating intuitive human-in-the-loop control.

Experimental Deployment

Two primary field deployments were explored to validate the vine robot system's capabilities: a soft robot navigation competition and an archaeological exploration in Chavin, Peru.

1. Soft Robot Navigation Competition: At RoboSoft 2018, the vine robot successfully navigated a course designed to test durability, interaction, and dexterity. It demonstrated superior performance by traversing uneven sandy terrain, negotiating a small aperture, and climbing stairs, but incurred penalties due to its growth-dependent movement, impacting its overall score.
2. Archaeological Site Exploration: The vine robot was employed for exploration within the constrained spaces of ancient tunnels in Chavin. Here, it maneuvered past obstructions, negotiated vertical shafts, and captured unexplored interior video footage, showcasing its invaluable application in archaeology.

Implications and Future Directions

The outcomes suggest vine robots represent a promising new direction for non-destructive exploration in confined environments. The ability to traverse difficult terrain while maintaining a small operational footprint signals utility across applications in search and rescue, medical procedures, and inspections. Future research directions will focus on overcoming current challenges like retractability, enhancing situational awareness, and developing robust sensor integration without sacrificing vine robot adaptability.

Conclusion

The paper successfully presents a versatile vine robot system capable of real-world deployment. These systems have the potential to transform exploration tasks in inaccessible environments and pave the way for further advancing soft robotics by refining operational control and extending functional capabilities. As development continues, vine robots will likely offer substantial contributions within spheres necessitating delicate environmental interaction and navigation in complex terrains.