External Steering of Vine Robots via Magnetic Actuation

• DOI: 10.48550/arxiv.2409.01319
• Publication Date: 2024-09-02
• Authors: Nam Gyun Kim; Nikita J. Greenidge; Joshua Davy; Shinwoo Park; James H. Chandler; Jee-Hwan Ryu; Pietro Valdastri
• Keywords: Vine

This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation use in endoluminal applications. Vine robots, inspired by natural growth locomotion strategies, present unique shape adaptation capabilities that allow passive deformation around obstacles. However, without additional mechanisms, they lack ability actively select desired direction growth. The principles magnetically steered growing are discussed, experimental results showcase effectiveness proposed actuation approach. We a 25 mm diameter robot with integrated tip capsule, including 6 Degrees Freedom (DOF) localization camera demonstrate minimum bending radius 3.85 cm an internal pressure 30 kPa. Furthermore, we evaluate robot's form tight through complex tasks, allowing extended free-space buckling. suspension was also validated using DOF system ensure shear-free nature preserved. Additionally, exploiting wrench at tip, preliminary retraction. findings contribute development controllable applications, providing force navigation.