Inflatable structure-based working channel securing mechanism for soft growing robots

Abstract

In this paper, we propose an inflatable structure-based working channel securing mechanism for soft growing robots. The proposed mechanism offers a solution for securing a stable and accessible working channel inside the robot while preserving the unique advantages of soft growing robots. The ability to create a secure working channel while the robot grows offers significant advantages in scenarios where the transfer of materials and tools is critical. It allows the robot to adapt and replace equipment based on specific work requirements, facilitating the performance of complex and diverse tasks. This capability enhances the robot's versatility and efficiency in various applications. The design of the soft growing robot incorporates an inflatable structure that expands as the robot grows, simultaneously forming a secure working channel. Prototyping and experimental validation were conducted to assess the robot's performance and capabilities. The results of the experiments demonstrated that the soft growing robot effectively secured the working channel, enabling the transfer of materials and tools without interference from the inflation pressure. The stability of the secured channel was validated through pipe pulling experiments. The growing demonstration confirmed the robot's ability to secure a working channel during its growth, while the steering demonstration showcased its inherent direction change steering function.