6 papers
Distributed Acoustic Localization Array Deployed Using a Soft Everting Vine Robot
Sebastian Lorca Godoy, Ciera McFarland, Michael Val +3
Soft robot exteroception is increasingly being explored for a variety of field applications. In this work, we present a sound-based system for localizing disaster victims in confin…
Gotta Grow Fast: Design and Benchmarking of a Tip Mount for High-Speed Vine Robots
Antonio Alvarez Valdivia, Robert Reeve, Ankush Dhawan +4
Soft, growing vine robots extend through tip eversion, a mechanism that enables navigation through cluttered environments. However, integrating cameras and other sensors at the tip…
Evaluating Accuracy of Vine Robot Shape Sensing with Distributed Inertial Measurement Units
Alexis E. Laudenslager, Antonio Alvarez Valdivia, Nathaniel Hanson +1
Soft, tip-extending vine robots are well suited for navigating tight, debris-filled environments, making them ideal for urban search and rescue. Sensing the full shape of a vine ro…
On Steerability Factors for Growing Vine Robots
Ciera McFarland, Antonio Alvarez, Sarah Taher +2
Vine robots extend their tubular bodies by everting material from the tip, enabling navigation in complex environments with a minimalist soft body. Despite their promise for field…
RubbleSim: A Photorealistic Structural Collapse Simulator for Confined Space Mapping
Constantine Frost, Chad Council, Margaret McGuinness +1
Despite well-reported instances of robots being used in disaster response, there is scant published data on the internal composition of the void spaces within structural collapse i…
Field Insights for Portable Vine Robots in Urban Search and Rescue
Ciera McFarland, Ankush Dhawan, Riya Kumari +3
Soft, growing vine robots are well-suited for exploring cluttered, unknown environments, and are theorized to be performant during structural collapse incidents caused by earthquak…