NRI: Vine Robots: Achieving Locomotion and Construction by Growth

与受动物运动启发的腿部机器人不同，这个项目探索受植物生长启发的机器人行走。具体地说，该项目为以类似于葡萄藤的方式生长的各类机器人系统奠定了基础。在其可到达的区域内，藤条机器人不仅提供感知，还提供一条物理管道--例如长成火灾的水管，或长成受困灾难受害者的氧气管。该项目将展示藤状机器人能够将自己配置或编织成三维物体和结构，如梯子、用于通信的天线和避难所。这些新型的合作机器人旨在以比传统机器人更低的成本改善人类的安全、健康和福祉，实现类似的结果。由于其低成本，藤本机器人提供了特殊的教育机会；该项目将包括为K-12学生创建和测试廉价的教育模块。这项工作将仿生机器人的概念从动物扩展到植物，从点对点运动到生长的运动概念。与传统的陆地移动机器人不同，传统的陆地移动机器人往往基于与表面反复断续接触的动物模式，而藤状模式从根开始，蕴藏着力量和逻辑，并通过生长延伸，在整个过程中增加永久的接触。该项目将展示一种软机器人，它能够长出100倍以上的长度，能够承受被踩踏，能够穿过四分之一高度的缝隙，能够爬楼梯和垂直墙，并能够在崎岖、湿滑、粘稠和水上的地形上导航。该设计采用了一种受生物启发的策略，将材料通过核心移动到尖端，允许机器人藤条的既定部分相对于环境保持静止。薄壁管子在生长过程中充满空气，使藤条机器人最初可以储存在底部的小体积中，并在可控部署时延伸非常远的距离。机械建模和新的设计工具将使特定任务的VINE机器人的开发成为可能，用于搜索和救援、可重构的通信天线和建筑。通过增长实现运动和建造的范例将产生集成驱动、传感、规划和控制的新技术；用于机器人设计的新原理和软件工具；以及推动协作机器人技术边界的人道主义应用。

In contrast to legged robots inspired by locomotion in animals, this project explores robotic locomotion inspired by plant growth. Specifically, the project creates the foundation for classes of robotic systems that grow in a manner similar to vines. Within its accessible region, a vine robot provides not only sensing, but also a physical conduit -- such as a water hose that grows to a fire, or an oxygen tube that grows to a trapped disaster victim. The project will demonstrate vine-like robots able to configure or weave themselves into three-dimensional objects and structures such as ladders, antennae for communication, and shelters. These novel co-robots aim to improve human safety, health, and well-being at a lower cost than conventional robots achieving similar outcomes. Because of their low cost, vine robots offer exceptional educational opportunities; the project will include creation and testing of inexpensive educational modules for K-12 students.This work broadens the concept of bio-inspired robots from animals to plants, the concept of locomotion from point-to-point movement to growth. In contrast to traditional terrestrial moving robots that tend to be based on the animal modality of repeated intermittent contacts with a surface, the vine modality begins with a root, harboring power and logic, and extends using growth, increasing permanent contacts throughout the process. This project will demonstrate a soft robot capable of growing over 100 times in length, withstanding being stepped on, extending through gaps a quarter of its height, climbing stairs and vertical walls, and navigating over rough, slippery, sticky and aquatic terrain. The design adopts a bio-inspired strategy of moving material through the core to the tip, allowing the established part of the robotic vine to remain stationary with respect to the environment. A thin-walled tube fills with air as it grows, allowing the vine robot to be initially stored in a small volume at its base, and to extend very large distances when controllably deployed. Mechanical modeling and new design tools will enable the development of task-specific vine robots for search and rescue, reconfigurable communication antennas, and construction. The paradigm of achieving movement and construction through growth will produce new technologies for integrated actuation, sensing, planning, and control; novel principles and software tools for robot design; and humanitarian applications that push the boundaries of collaborative robotics.