Plant-Inspired Soft Pneumatic Eversion Robot

Putzu, Fabrizio; Abrar, Taqi; Althoefer, Kaspar

doi:10.1109/biorob.2018.8487848

Cited by 33 publications

(21 citation statements)

References 42 publications

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“…[149] Plant: [181] Journal of Robotics spine [43][44][45][46][47][48][49][50][51][52][53][54][55] are aligned with metal intervertebral discs aligned at a constant distance that provide nonlinear damping characteristics, and snake [63][64][65][66][67] is constructed with cylindrical tubes connected with joints with rotational and translational degrees of freedom and mostly used for inspection through holes, as shown in Figure 3(b). To reach the model of a continuum structure, snake models [68][69][70][71] are developed that are made up of braided or shape memory alloy materials and consist of dual actuation, i.e., are cable or pneumatic driven.…”

Section: Manipulation Flexibilitymentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.

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Section: Manipulation Flexibilitymentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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“…One of the recent developments in soft robotics took inspiration from vine plants to achieve growing and stiffening ability in "eversion robot" simultaneously [4], [5]. The structure of this eversion robot (as shown in Fig.…”

Section: Inflatable Eversion Robotmentioning

confidence: 99%

“…Eversion or vine robots have been emerging recently. Their friction-less advancement along their longitudinal axis has helped them to establish themselves as excellent candidates to move into remote locations [4], [5]. This type of robot is characterized by its growing-tip movement which, like in a sleeve, turns inside out at the tip, with sleeve material constantly emerging from the inside.…”

Section: Introductionmentioning

confidence: 99%

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Ataka

Abrar

Putzu

et al. 2020

IEEE Robot. Autom. Lett.

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Plant-inspired inflatable eversion robots with their tip growing behaviour have recently emerged. Because they extend from the tip, eversion robots are particularly suitable for applications that require reaching into remote places through narrow openings. Besides, they can vary their structural stiffness. Despite these essential properties which make the eversion robot a promising candidate for applications involving cluttered environments and tight spaces, controlling their motion especially laterally has not been investigated in depth. In this paper, we present a new approach based on model-based kinematics to control the eversion robot's tip position and orientation. Our control approach is based on Euler-Bernoulli beam theory which takes into account the effect of the internal inflation pressure to model each robot bending segment for various conditions of structural stiffness. We determined the parameters of our bending model by performing a least-square technique based on the pressure-bending data acquired from an experimental study. The model is then used to develop a pose controller for the tip of our eversion robot. Experimental results show that the proposed control strategy is capable of guiding the tip of the eversion robot to reach a desired position and orientation whilst varying its structural stiffness.

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“…The eversion robots have been demonstrated to be steerable and can extend at rates of up to 10m/s to tens of meters in length. Different applications such as surveillance and monitoring, reconfigurable antennas, a soft burrowing device, soft artificial muscles and manipulators for minimally invasive surgery have been demonstrated using the eversion principle [12][13][14][15]. Furthermore, by embedding sensing technologies, bioinspired control techniques can be implemented to control eversion robots and track complex trajectories due to their high maneuverability [16].…”

Section: Introductionmentioning

confidence: 99%

“…However, there has been minimal work on developing and characterizing eversion robots that can deliver payloads. Putzu et al developed a pneumatic actuator based on the eversion principle in which a payload of 3N was suspended using a tendon attached to the sealed end of the membrane [15]. With the large range of actuation and interesting maneuvering capabilities of eversion robots, the subsequent goals would be to equip the eversion-based robots with sensing and manipulation capabilities by attaching sensors and effectors to the tip of the robot.…”

Section: Introductionmentioning

confidence: 99%

Payload Capabilities and Operational Limits of Eversion Robots

Godaba

Putzu

Abrar

et al. 2019

Towards Autonomous Robotic Systems

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Recent progress in soft robotics has seen new types of actuation mechanisms based on apical extension which allows robots to grow to unprecedented lengths. Eversion robots are a type of robots based on the principle of apical extension offering excellent maneuverability and ease of control allowing users to conduct tasks from a distance. Mechanical modelling of these robotic structures is very important for understanding their operational capabilities. In this paper, we model the eversion robot as a thin-walled cylindrical beam inflated with air pressure, using Timoshenko beam theory considering rotational and shear effects. We examine the various failure modes of the eversion robots such as yielding, buckling instability and lateral collapse, and study the payloads and operational limits of these robots in axial and lateral loading conditions. Surface maps showing the operational boundaries for different combinations of the geometrical parameters are presented. This work provides insights into the design of eversion robots and can pave the way towards eversion robots with high payload capabilities that can act from long distances.

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Plant-Inspired Soft Pneumatic Eversion Robot

Cited by 33 publications

References 42 publications

Continuum Robots for Manipulation Applications: A Survey

Continuum Robots for Manipulation Applications: A Survey

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Payload Capabilities and Operational Limits of Eversion Robots

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