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arXiv · 2505.00969

Real-time Two-tape Control System in Vine robots

Hanmo Liu·Kayleen Smith·Zimu Yang·Mark Yim
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Abstract

This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time directional control with arbitrary many turns while maintaining the robot's soft structure. This system feeds growing material external to the tube. The design achieves fixed-angle turns in 2D space. Through experimental validation, we demonstrate repeated 21-degree turns using a Dubins path planner with minimal error, establishing a foundation for more versatile Vine robot applications. This approach combines real-time control, multi-degree-of-freedom steering, and structural flexibility, addressing key challenges in soft robotics.

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Hanmo Liu, Kayleen Smith, Zimu Yang, Mark Yim. 2025-05-02. Real-time Two-tape Control System in Vine robots. https://arxiv.org/abs/2505.00969

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