Real-time Two-tape Control System in Vine robots

2025-05-02

AI Summary

To address the challenge of real-time, high-precision, multi-segment fixed-angle steering in 2D space for soft vine robots, this work proposes a non-invasive, real-time steering mechanism based on surface-wrinkle induction: localized surface instability is autonomously regulated via dual-tape adhesion, triggering controllable wrinkles that drive growth-based body steering while preserving global softness. The method integrates adaptive tape adhesion control, wrinkling mechanics modeling, external-material-supplied growth actuation, real-time Dubins path planning, and closed-loop feedback control. Experiments demonstrate repeatable 21° steering with mean angular error <1.2°, unlimited reconfigurability, and execution of complex multi-segment curved trajectories. This is the first application of wrinkling mechanics to enable real-time steering in soft robots, overcoming the inherent trade-off among steering degrees of freedom, real-time responsiveness, and structural compliance—establishing a new paradigm for soft autonomous navigation in unstructured environments.

Technology Category

• Intelligent Robots: Motion and Path Planning
• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Computer Vision: Low Level & Physics-based Vision

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

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.

Problem

• Real-time steering control for Vine robots using adhesive tape
• Achieving fixed-angle 2D turns while maintaining soft structure
• Enabling multi-directional flexibility in soft robotics applications

Innovation

• Real-time steering control with adhesive tape
• External material feeding for growth
• Fixed-angle turns using Dubins path