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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.00969 |
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| _version_ | 1866916716893700096 |
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| author | Liu, Hanmo Smith, Kayleen Yang, Zimu Yim, Mark |
| author_facet | Liu, Hanmo Smith, Kayleen Yang, Zimu Yim, Mark |
| contents | This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time directional control with arbitrary many turns while maintaining the robot's soft structure. This system feeds growing material external to the tube. The design achieves fixed-angle turns in 2D space. Through experimental validation, we demonstrate repeated 21-degree turns using a Dubins path planner with minimal error, establishing a foundation for more versatile Vine robot applications. This approach combines real-time control, multi-degree-of-freedom steering, and structural flexibility, addressing key challenges in soft robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_00969 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Real-time Two-tape Control System in Vine robots Liu, Hanmo Smith, Kayleen Yang, Zimu Yim, Mark Robotics This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time directional control with arbitrary many turns while maintaining the robot's soft structure. This system feeds growing material external to the tube. The design achieves fixed-angle turns in 2D space. Through experimental validation, we demonstrate repeated 21-degree turns using a Dubins path planner with minimal error, establishing a foundation for more versatile Vine robot applications. This approach combines real-time control, multi-degree-of-freedom steering, and structural flexibility, addressing key challenges in soft robotics. |
| title | Real-time Two-tape Control System in Vine robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.00969 |