Real-time Two-tape Control System in Vine robots

TL;DR

This paper introduces a novel real-time control system for Vine robots that uses adhesive tape to induce surface wrinkles, enabling precise directional steering while maintaining softness, validated through experimental 21-degree turns.

Contribution

It presents a new real-time steering control method for Vine robots using adhesive tape to induce surface wrinkles for directional control.

Findings

Achieved repeated 21-degree turns with minimal error

Demonstrated fixed-angle turns in 2D space

Validated with a Dubins path planner

Abstract

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.