Design, Modeling, Control, and Application of Everting Vine Robots.
Design, Modeling, Control, and Application of Everting Vine Robots.
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DOI：
10.3389/frobt.2020.548266
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发表时间：
2020
影响因子：
3.4
通讯作者：
Hawkes EW
中科院分区：
文献类型：
--
作者：
Blumenschein LH;Coad MM;Haggerty DA;Okamura AM;Hawkes EW
在自然界中，尖端局部生长允许在严格限制的环境中导航并创建结构。最近，这种形式的运动已经通过压力驱动的柔性薄壁管外翻来人为地实现。在这里，我们回顾了最近关于通过压力驱动外翻“生长”的机器人的研究，这些机器人被称为“外翻藤蔓机器人”，因为其运动模式与天然藤蔓相似。我们将这项工作分为四类。首先，我们研究了外翻藤蔓机器人的设计，强调了材料选择、驱动方法以及传感器和工具放置方面的权衡。这些权衡导致了特定于应用程序的实现。其次，我们描述了外翻藤蔓机器人建模的现状和需求。已经开发了生长和收缩的准静态模型以及转向和环境相互作用的运动学和力平衡模型，这些模型使用简化的假设并限制所涉及的自由度。第三，我们报告了外翻藤蔓机器人控制和规划技术，这些技术已开发用于将机器人尖端移动到目标，使用各种模式为机器人提供参考输入。第四，我们强调了在各种应用中使用这种运动范式的好处和挑战。迄今为止，外翻藤蔓机器人的应用包括部署和重新配置结构、在有限空间中导航以及对环境施加力。最后，我们确定了现有技术的差距，并讨论了未来研究的机会，以推进外翻藤蔓机器人及其在该领域的实用性。
In nature, tip-localized growth allows navigation in tightly confined environments and creation of structures. Recently, this form of movement has been artificially realized through pressure-driven eversion of flexible, thin-walled tubes. Here we review recent work on robots that “grow” via pressure-driven eversion, referred to as “everting vine robots,” due to a movement pattern that is similar to that of natural vines. We break this work into four categories. First, we examine the design of everting vine robots, highlighting tradeoffs in material selection, actuation methods, and placement of sensors and tools. These tradeoffs have led to application-specific implementations. Second, we describe the state of and need for modeling everting vine robots. Quasi-static models of growth and retraction and kinematic and force-balance models of steering and environment interaction have been developed that use simplifying assumptions and limit the involved degrees of freedom. Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot. Fourth, we highlight the benefits and challenges of using this paradigm of movement for various applications. Everting vine robot applications to date include deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment. We conclude by identifying gaps in the state of the art and discussing opportunities for future research to advance everting vine robots and their usefulness in the field.
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影响因子：
56.9
作者：
Gerbode, Sharon J.;Puzey, Joshua R.;Mahadevan, L.
通讯作者：
Mahadevan, L.
影响因子：
5.2
作者：
Coad, Margaret M.;Thomasson, Rachel P.;Okamura, Allison M.
通讯作者：
Okamura, Allison M.
影响因子：
5.2
作者：
Blumenschein, Laura H.;Gan, Lucia T.;Hawkes, Elliot W.
通讯作者：
Hawkes, Elliot W.
影响因子：
7.4
作者：
GREEN, PB;ERICKSON, RO;BUGGY, J
通讯作者：
BUGGY, J
影响因子：
3.5
作者：
Gazzola M;Dudte LH;McCormick AG;Mahadevan L
通讯作者：
Mahadevan L