Hybrid Continuum-Eversion Robot: Precise Navigation and Decontamination in Nuclear Environments using Vine Robot

TL;DR

This paper presents a novel hybrid continuum-eversion robot that combines soft flexibility with precise steering, enabling effective navigation and decontamination in nuclear environments, demonstrated through successful remote spraying experiments.

Contribution

It introduces a new hybrid robot design that integrates continuum and eversion robotics for improved navigation and decontamination in complex nuclear settings.

Findings

Over 95% success in precision spraying tests

Effective delivery of sensors, liquids, and aerosols to remote areas

Demonstrated real-world capabilities in nuclear decontamination tasks

Abstract

Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot designed to address certain challenges in relation to navigating and operating within pipe networks and enclosed remote vessels. The hybrid robot combines the flexibility of a soft eversion robot with the precision of a continuum robot at its tip, allowing for controlled steering and movement in hard to access and/or complex environments. The design enables the delivery of sensors, liquids, and aerosols to remote areas, supporting remote decontamination activities. This paper outlines the design and construction of the robot and the methods by which it achieves selective steering. We also include a comprehensive review of current related work in eversion robotics, as well as other steering devices and actuators currently under research, which underpin this novel active steering approach. This is followed by an experimental evaluation that demonstrates the robot's real-world capabilities in delivering liquids and aerosols to remote locations. The experiments reveal successful outcomes, with over 95% success in precision spraying tests. The paper concludes by discussing future work alongside limitations in the current design, ultimately showcasing its potential as a solution for remote decontamination operations in the nuclear industry.