4 papers
PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot
Yimeng Qin, Xiaomeng Xu, William Heap +3
Vine robots, a class of soft, growing robots, are suitable for navigating complex and confined environments due to their compliant bodies and self-supporting growth mechanism. Howe…
A Hermetic, Transparent Soft Growing Vine Robot System for Pipe Inspection
William E. Heap, Yimeng Qin, Kai Hammond +3
Rehabilitation of aging pipes requires accurate condition assessment and mapping far into the pipe interiors. Soft growing vine robot systems are particularly promising for navigat…
3D Steering and Localization in Pipes and Burrows using an Externally Steered Soft Growing Robot
Yimeng Qin, Jared Grinberg, William Heap +1
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptabilit…
Self-Wearing Adaptive Garments via Soft Robotic Unfurling
Nam Gyun Kim, William E. Heap, Yimeng Qin +3
Robotic dressing assistance has the potential to improve the quality of life for individuals with limited mobility. Existing solutions predominantly rely on rigid robotic manipulat…