Aim

The aim of this research is to investigate the capabilities of soft everting robotic systems, such as vine robots, for exploration, mapping, sensing, and environmental manipulation in extreme and confined spaces, with a focus on their adaptability, autonomy, and potential applications in challenging environments.

Objectives

1. Develop and characterize soft everting robotic systems. Investigate the design, fabrication, and material properties of vine-like robots to optimize their locomotion, durability, and adaptability in extreme and confined environments.
2. Design and integrate autonomous sensing and mapping capabilities. Develop and implement multi-modal sensing strategies (e.g., tactile, visual, acoustic) for real-time environmental perception, localization, and mapping in cluttered or hazardous spaces.
3. Investigate control strategies for autonomous navigation and interaction. Develop adaptive control and planning algorithms that enable reliable movement, obstacle negotiation, and task execution (e.g., sensor deployment, environmental manipulation) in unstructured environments.
4. Evaluate system performance in relevant environments. Conduct experimental validation in simulated and real-world confined environments to assess the effectiveness of the robot’s locomotion, sensing, and autonomy under varying levels of complexity and risk.

Description

Extreme, confined environments—such as unstable collapsed structures, some industrial facilities, or subterranean tunnels and cave systems (either terrestrial or extraterrestrial)—pose significant challenges for exploration, mapping, and intervention. Conventional robots often struggle in these settings due to their rigid structures, limited adaptability, and difficulties in navigating cluttered spaces.

Soft everting robots (e.g., vine robots) offer a promising alternative, thanks to their unique mode of locomotion. The eversion principle entails the ability of the robot to lengthen from the tip, involving no relative movement of the body with respect to the environment and thus avoiding friction from sliding against the surroundings [1]. As a result, these systems can expand along constrained paths and navigate complex environment while minimizing disruptions [1,2].

This PhD project will investigate the potential of these robots in the areas of sensing, autonomous control strategies, navigation, and environmental interaction capabilities. The research will explore material design, sensor integration, and adaptive planning for real-world applications, such as search-and-rescue, infrastructure inspection, and planetary exploration. By developing robust autonomy for these systems, this project aims to expand the operational capabilities of soft robotics in extreme environments.

References

[1] Hawkes, E.W., Blumenschein, L.H., Greer, J.D. and Okamura, A.M., “A soft robot that navigates its environment through growth”. Science Robotics, 2(8), p.eaan3028, 2017.

[2] Blumenschein, L.H., Coad, M.M., Haggerty, D.A., Okamura, A.M. and Hawkes, E.W., “Design, modeling, control, and application of everting vine robots”. Frontiers in Robotics and AI, 7, p.548266, 2020.