7 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…
Fabric Pneumatic Artificial Muscle-Based Head-Neck Exosuit: Design, Modeling, and Evaluation
Katalin Schäffer, Ian Bales, Haohan Zhang +1
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurologica…
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…
Modeling Collapse of Steered Vine Robots Under Their Own Weight
Ciera McFarland, Margaret McGuinness
Soft, vine-inspired growing robots that move by eversion are highly mobile in confined environments, but, when faced with gaps in the environment, they may collapse under their own…