Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration
Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration
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DOI：
10.1109/mra.2019.2947538
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发表时间：
2020-09-01
影响因子：
5.7
通讯作者：
Okamura, Allison M.
中科院分区：
文献类型：
--
作者：
Coad, Margaret M.;Blumenschein, Laura H.;Okamura, Allison M.
研究人员正在开发一类新的连续机器人，其特征是尖端扩展，长度变化和方向控制。在本文中，我们称这些藤蔓机器人在生长徒步行为中与植物的相似性。由于其基于增长的运动，藤蔓机器人非常适合在混乱环境中的导航和探索。但是，到目前为止，它们还没有在实验室外部署。有三个功能是在现场成功部署的关键。首先是可移植性。其次是能够在足够长的距离上进行引导以对导航有用。第三是直观的人类中的远程运行，它可以在未知和动态的环境中运动。我们提出了一个使用定制设计的柔性操纵杆和相机系统进行终止使用的葡萄藤机器人系统，可以扩展足够长的时间用于导航任务，并且可移植用于现场。我们在两种情况下报告了该系统的部署：软机器人导航竞赛的完成和考古场地的探索。竞争课程需要在不平坦的地形，过去不稳定的障碍物和小小的光圈上移动。考古遗址需要在岩石上移动以及通过水平和垂直转弯。机器人的尖端成功地越过了障碍物并通过隧道，证明了藤机器人在现场实现导航和勘探任务的能力。
Researchers are developing a new class of continuum robots characterized by tip extension, significant length change, and directional control. In this article, we call these vine robots because of their similarity to plants in their growth-trailing behavior. Due to their growth-based movement, vine robots are well suited for navigation and exploration in cluttered environments. Until now, however, they have not been deployed outside the lab. There are three features that are key for successful deployment in the field. First is portability. Second is the ability to be guided over long enough distances to be useful for navigation. Third is intuitive human-in-theloop teleoperation, which enables movement in unknown and dynamic environments. We present a vine robot system that is teleoperated using a custom-designed 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 archaeological site. The competition course required movement over uneven terrain, past unstable obstacles, and through a small aperture. The archeological site required movement over rocks and through horizontal and vertical turns. The robot tip successfully moved past the obstacles and through the tunnels, demonstrating the capability of vine robots to achieve navigation and exploration tasks in the field.