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Design, Modeling, and Control of Vine Robots for Exploration of Unknown Environments.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Design, Modeling, and Control of Vine Robots for Exploration of Unknown Environments./
Author:	Coad, Margaret Mary.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
Description:	201 p.
Notes:	Source: Dissertations Abstracts International, Volume: 83-05, Section: B.
Contained By:	Dissertations Abstracts International83-05B.
Subject:	Robots. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28688343
ISBN:	9798544203803

Design, Modeling, and Control of Vine Robots for Exploration of Unknown Environments.
Coad, Margaret Mary.

Design, Modeling, and Control of Vine Robots for Exploration of Unknown Environments. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 201 p.

Source: Dissertations Abstracts International, Volume: 83-05, Section: B.

Thesis (Ph.D.)--Stanford University, 2021.

This item must not be sold to any third party vendors.

Robots have great potential to be our eyes and hands in spaces too small or dangerous for humans to enter. Minimally invasive surgery, urban search and rescue, and water pipeline inspection are examples of applications where such robots could improve human health, safety, or productivity. However, most of today's robots are unsuitable for practical use in these applications, in large part because their physical bodies lack the necessary properties to navigate and manipulate the environment in these spaces. This dissertation focuses on a relatively unexplored robotic paradigm-robotic movement via plant-like tip-growth-and its application for exploration of unknown environments. In particular, we study soft growing "vine robots," which lengthen from the tip by turning their body material inside out using internal fluid pressure, and are well suited for exploration of small spaces. We present new designs, models, and control schemes that have enabled key performance improvements that make vine robots useful for exploration in the field.To provide context for the work to follow, we begin by reviewing the literature on design, modeling, control, and application of vine robots. We discuss the tradeo↵s in vine robot designs, including materials, actuation, and payloads, which have led to application-specific implementations. We describe the existing quasi-static, kinematic, and force-balance models of growth and steering, which use simplifying assumptions and limit the involved degrees of freedom. We report on the planning strategies and control schemes, ranging from teleoperated to autonomous, that have been implemented to move the robot tip to a target. We describe the important functions and wide range of application of vine robots in deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment.Through design and field deployment experience, we explore the specifications for and capabilities of a field-ready vine robot system for exploration of unknown environments. We present a vine robot system that is teleoperated using a customdesigned flexible joystick and camera system, can extend long enough for use in navigation tasks, and is portable for use in the field. We report on the deployment of this system in two scenarios: completion of a soft robot navigation competition and exploration of an archeological site. This system is made possible by a reversible steering vine robot actuator that can be easily manufactured in long formats; a method of mounting a camera at the tip of a vine robot and managing the camera wire using a rigid cap and zipper pocket; a method for robust control of vine robot growth speed using a motor to restrict growth; and a geometric model-based method for teleoperated steering using a custom-designed flexible joystick. The robot tip successfully moved past obstacles and through tunnels, demonstrating the capability of vine robots to achieve navigation and exploration tasks in the field.A problem encountered during field exploration was that of undesired bending/buckling during vine robot retraction. We develop and experimentally validate a model to predict when undesired bending/buckling occurs instead of successful inversion during retraction. Key insights from the model are that there is no pressure or curvature at which inversion occurs at all lengths, and that decreasing the robot length to zero ensures that inversion will occur.

ISBN: 9798544203803Subjects--Topical Terms:

529507
Robots.

Design, Modeling, and Control of Vine Robots for Exploration of Unknown Environments.
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520 $a Robots have great potential to be our eyes and hands in spaces too small or dangerous for humans to enter. Minimally invasive surgery, urban search and rescue, and water pipeline inspection are examples of applications where such robots could improve human health, safety, or productivity. However, most of today's robots are unsuitable for practical use in these applications, in large part because their physical bodies lack the necessary properties to navigate and manipulate the environment in these spaces. This dissertation focuses on a relatively unexplored robotic paradigm-robotic movement via plant-like tip-growth-and its application for exploration of unknown environments. In particular, we study soft growing "vine robots," which lengthen from the tip by turning their body material inside out using internal fluid pressure, and are well suited for exploration of small spaces. We present new designs, models, and control schemes that have enabled key performance improvements that make vine robots useful for exploration in the field.To provide context for the work to follow, we begin by reviewing the literature on design, modeling, control, and application of vine robots. We discuss the tradeo↵s in vine robot designs, including materials, actuation, and payloads, which have led to application-specific implementations. We describe the existing quasi-static, kinematic, and force-balance models of growth and steering, which use simplifying assumptions and limit the involved degrees of freedom. We report on the planning strategies and control schemes, ranging from teleoperated to autonomous, that have been implemented to move the robot tip to a target. We describe the important functions and wide range of application of vine robots in deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment.Through design and field deployment experience, we explore the specifications for and capabilities of a field-ready vine robot system for exploration of unknown environments. We present a vine robot system that is teleoperated using a customdesigned flexible joystick and camera system, can extend long enough for use in navigation tasks, and is portable for use in the field. We report on the deployment of this system in two scenarios: completion of a soft robot navigation competition and exploration of an archeological site. This system is made possible by a reversible steering vine robot actuator that can be easily manufactured in long formats; a method of mounting a camera at the tip of a vine robot and managing the camera wire using a rigid cap and zipper pocket; a method for robust control of vine robot growth speed using a motor to restrict growth; and a geometric model-based method for teleoperated steering using a custom-designed flexible joystick. The robot tip successfully moved past obstacles and through tunnels, demonstrating the capability of vine robots to achieve navigation and exploration tasks in the field.A problem encountered during field exploration was that of undesired bending/buckling during vine robot retraction. We develop and experimentally validate a model to predict when undesired bending/buckling occurs instead of successful inversion during retraction. Key insights from the model are that there is no pressure or curvature at which inversion occurs at all lengths, and that decreasing the robot length to zero ensures that inversion will occur.
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