Design, Modeling, Control, and Application of Everting Vine Robots

Area of Science:

• Robotics
• Bio-inspired Engineering
• Mechanical Engineering

Background:

• Nature exhibits tip-localized growth for navigation and construction in confined spaces.
• Artificial realization of this growth achieved through pressure-driven eversion of thin-walled tubes.

Purpose of the Study:

• To review recent advancements in robots that grow via pressure-driven eversion, termed 'everting vine robots'.
• To categorize and analyze the design, modeling, control, and applications of these robots.

Main Methods:

• Categorization of existing research into four key areas: design, modeling, control, and applications.
• Analysis of design tradeoffs, including materials, actuation, and sensor/tool integration.
• Review of modeling approaches (quasi-static, kinematic, force-balance) and control/planning techniques.

Main Results:

• Everting vine robots demonstrate application-specific designs based on material and actuation choices.
• Developed models simplify robot dynamics for growth, retraction, steering, and environmental interaction.
• Control strategies enable tip targeting using diverse input modalities.
• Applications include structure deployment, confined space navigation, and environmental force application.

Conclusions:

• Everting vine robots offer a unique paradigm for movement and manipulation in challenging environments.
• Current research highlights benefits and challenges across various applications.
• Identified research gaps and future opportunities for advancing everting vine robot technology.