An obstacle-interaction planning method for navigation of actuated vine robots

Selvaggio, Mario; Ramirez, Lynher; Naclerio, Nicholas D.; Siciliano, Bruno; Hawkes, Elliot W.

doi:10.1109/icra40945.2020.9196587

Cited by 30 publications

(19 citation statements)

References 30 publications

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“…Then, from the possible designs, the one that maximizes the probability of reaching each waypoint was selected. Selvaggio et al (2020) presents a similar planning method with the addition of active steering. A slightly different model (detailed in section 4.2) is used to describe the obstacle interaction of these robots.…”

Section: Planningmentioning

confidence: 99%

“…When pressurized, fPAMs expand radially and shorten in length, similar to a McKibben actuator (Gaylord, 1958 ; Geddes et al, 1959 ). fPAMs were demonstrated in Naclerio and Hawkes ( 2020 ) and Selvaggio et al ( 2020 ) to steer everting vine robots. They have a slightly lower maximum contraction ratio (30% was reported in Naclerio and Hawkes, 2020 ) than sPAMs, but also show very little hysteresis.…”

Section: Designmentioning

confidence: 99%

“…This model was used to design for intentional passive deformations of preformed everting vine robots in Greer et al ( 2020 ) ( Figure 4A ). The modeling and planning associated with using passive deformation for steering, including using passive deformation with active distributed steering (Selvaggio et al, 2020 ), will be discussed in sections 4.2 and 5.3.…”

Section: Designmentioning

confidence: 99%

“…The publisher for this copyrighted material is Mary Ann Liebert, Inc. publishers. Modified from Wang et al ( 2020 ) © IEEE 2020, Blumenschein et al ( 2018b ) © IEEE 2018, Greer et al ( 2018 ), Blumenschein et al ( 2020 ) © IEEE 2018, and Selvaggio et al ( 2020 ) © IEEE 2020.…”

Section: Modelingmentioning

confidence: 99%

“…Active steering and obstacle interaction models can be combined to model controlled everting vine robots moving through obstacle-filled environments. Selvaggio et al ( 2020 ) shows a piecewise formulation to calculate the robot shape during environment contact in 2D. The free length of the robot body (i.e., the section not constrained by the environment) takes on a constant curvature shape determined by the pressures in the actuators, while the constrained length of the robot body is shaped based on the obstacle contact locations ( Figure 8B ).…”

Section: Modelingmentioning

confidence: 99%

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Design, Modeling, Control, and Application of Everting Vine Robots

et al. 2020

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In nature, tip-localized growth allows navigation in tightly confined environments and creation of structures. Recently, this form of movement has been artificially realized through pressure-driven eversion of flexible, thin-walled tubes. Here we review recent work on robots that “grow” via pressure-driven eversion, referred to as “everting vine robots,” due to a movement pattern that is similar to that of natural vines. We break this work into four categories. First, we examine the design of everting vine robots, highlighting tradeoffs in material selection, actuation methods, and placement of sensors and tools. These tradeoffs have led to application-specific implementations. Second, we describe the state of and need for modeling everting vine robots. Quasi-static models of growth and retraction and kinematic and force-balance models of steering and environment interaction have been developed that use simplifying assumptions and limit the involved degrees of freedom. Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot. Fourth, we highlight the benefits and challenges of using this paradigm of movement for various applications. Everting vine robot applications to date include deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment. We conclude by identifying gaps in the state of the art and discussing opportunities for future research to advance everting vine robots and their usefulness in the field.

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Section: Planningmentioning

confidence: 99%

Section: Designmentioning

confidence: 99%

Section: Designmentioning

confidence: 99%

Section: Modelingmentioning

confidence: 99%

Section: Modelingmentioning

confidence: 99%

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Design, Modeling, Control, and Application of Everting Vine Robots

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Continuum Robots: An Overview

Russo

Sadati

Dong

et al. 2023

Advanced Intelligent Systems

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When thinking of robots, the image that immediately springs to mind is either an android, designed to resemble human beings and mimic their behavior, or an industrial manipulator, for example, a large machine of rigid steel working in an assembly line. However, robotic systems of multiple forms have been developed to carry out the most diverse tasks, with designs that evolved from readily available structures, such as vehicles, or inspired by nature. In the last decade, more and more bioinspired designs have been enabled by advances in computer science, materials, and manufacturing. Among them, continuum robots, inspired by snakes, trunks, and tendrils, are characterized by a compliant backbone capable of continuous bending, whose shape (configuration, i.e., position and orientation along the backbone curve) is controlled by applying loads through onboard "intrinsic" actuators (e.g., pneumatics or hydraulics) or transmission elements (e.g., tendons, rods, or compliant tubes) that are pushed/pulled from an extremity of the backbone ("extrinsic actuation"). These robots have flexible bodies with a high length to cross-section diameter ratio and are uniquely suited to tasks that require the deployment of tools or sensors with a long reach into tortuous and narrow paths. [1] Continuum robots were first developed in the 1960s [2] and rose to prominence in the late 1990s, [3] when they were often called elephant trunk, [4] tentacle/tendril, [5] or flexible [6] manipulators. Whereas other robots were characterized by intrinsic actuation and larger sizes, research on continuum robots first focused on miniaturization for medical applications, [7,8] leading to extrinsic actuation to enable leaner designs. Recently, continuum robots have been developed for a wider range of applications, including manufacturing, aerospace, search and rescue, and nuclear. In such scenarios, the infinite degrees of freedom (DoFs) of these slender robots enable inspection and intervention in areas that cannot be accessed by conventional robots (e.g., tunnels [9] and gas turbines [10] ).An exhaustive literature search (see Appendix) outlines a surging interest in continuum robots, with a 19.6% average annual growth in publications between 2012 and 2021 (continuum robot search on Web of Science). Three main topics can be observed in recent literature surveys, listed in Table 1. DesignTendon-driven and concentric tube robots are predominant in surveys, but they are not the only design solutions. [18] This richer literature can be attributed to intense research effort toward medical and other small-scale applications when compared to larger-scale tasks (e.g., manipulation) where intrinsic actuation is advantageous.

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