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  • 11 Department of Mechanical Engineering, Stanford University, Stanford, California.

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This summary is machine-generated.

This study introduces a novel soft continuum robot with tip extension for easier navigation in complex spaces. Its design allows for decoupled steering and forward movement, simplifying robotic exploration.

Keywords:
biomimetic robotscontinuum robotgrowing robotrobotic growthsoft robot control

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Soft continuum robots offer unique access and manipulation in cluttered environments.
  • Traditional robots face limitations in navigating constrained spaces.
  • The kinematics of soft continuum robots present navigation challenges.

Purpose of the Study:

  • To design, model, and control a soft continuum robot with enhanced navigation capabilities.
  • To introduce a tip extension degree of freedom for decoupled steering and forward movement.
  • To enable simpler and more effective navigation in challenging environments.

Main Methods:

  • Pneumatic artificial muscles arranged radially for steering.
  • Pneumatically driven tip eversion for extension.
  • Development of kinematic models and experimental verification.
  • Implementation of an eye-in-hand visual servo control law.

Main Results:

  • The robot design enables decoupled steering and forward movement for simplified navigation.
  • Tip movement is always tangent to the backbone, irrespective of its shape.
  • Experimental verification of the growing robot kinematics was achieved.
  • Successful demonstration of growth and steering to designated locations using visual servo control.

Conclusions:

  • The developed soft continuum robot offers a promising solution for navigation in constrained environments.
  • The decoupled steering and extension mechanism simplifies robot control.
  • The eye-in-hand visual servo control law effectively guides the robot to target locations.