# Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration

## TL;DR

This paper introduces a portable, teleoperated vine robot system designed for navigation and exploration in cluttered, outdoor environments, demonstrating successful deployment in competition and archaeological exploration scenarios.

## Contribution

The paper presents a novel vine robot system with a custom flexible joystick and camera, enabling effective field deployment for navigation and exploration tasks.

## Key findings

- Successfully navigated uneven terrain and obstacles
- Demonstrated exploration in archaeological site
- Achieved effective teleoperation in real-world environments

## Abstract

A new class of continuum robots has recently been explored, characterized by tip extension, significant length change, and directional control. Here, we call this class of robots "vine robots," due to their similar behavior to plants with the growth habit of trailing. Due to their growth-based movement, vine robots are well suited for navigation and exploration in cluttered environments, but until now, they have not been deployed outside the lab. Portability of these robots and steerability at length scales relevant for navigation are key to field applications. In addition, intuitive human-in-the-loop teleoperation enables movement in unknown and dynamic environments. We present a vine robot system that is teleoperated using a custom designed flexible joystick and camera system, long enough for use in navigation tasks, and portable for use in the field. We report on deployment of this system in two scenarios: a soft robot navigation competition and exploration of an archaeological site. The competition course required movement over uneven terrain, past unstable obstacles, and through a small aperture. The archaeological site required movement over rocks and through horizontal and vertical turns. The robot tip successfully moved past the obstacles and through the tunnels, demonstrating the capability of vine robots to achieve navigation and exploration tasks in the field.