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Parallel Simulation of Contact and Actuation for Soft Growing Robots.

Yitian Gao1, Lucas Chen1, Priyanka Bhovad2

  • 1Department of Computer Science, Purdue University, West Lafayette, Indiana, USA.

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|March 5, 2026
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Summary
This summary is machine-generated.

This study introduces active steering for soft growing robots, or vine robots, enabling navigation in complex environments. Optimized designs minimize actuators by utilizing environmental contacts for enhanced functionality.

Keywords:
GPU-parallel simulationcontrollearning for soft robotsmodelingsoft growing robots

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Soft growing robots, or vine robots, excel in unstructured environments.
  • Previous research focused on passive deformation, limiting navigation capabilities.
  • Active steering is crucial for complex environment navigation in vine robots.

Purpose of the Study:

  • To develop a unified modeling framework for vine robot growth, bending, actuation, and obstacle contact.
  • To enable active steering for enhanced navigation in complex environments.
  • To optimize vine robot designs for minimal actuator use through environmental contact.

Main Methods:

  • Extended the beam moment model to incorporate actuation effects on kinematics during growth.
  • Developed a fast parallel simulation framework integrating growth, bending, actuation, and contact.
  • Validated the model and simulator through real robot experiments.

Main Results:

  • A unified modeling framework for vine robot behavior under growth, bending, actuation, and contact was established.
  • A design optimization task identified vine robot configurations minimizing actuators by exploiting environmental contacts.
  • Optimized designs demonstrated robustness against environmental and manufacturing uncertainties.
  • An optimized vine robot was fabricated and successfully deployed in an obstacle-rich environment.

Conclusions:

  • The developed framework enables active steering and design optimization for soft growing robots.
  • Exploiting environmental contacts is a viable strategy for reducing actuator requirements in vine robots.
  • The research paves the way for more capable and efficient vine robots in complex scenarios.