Robotic Barrier Construction through Weaved, Inflatable Tubes
Heather Jin Hee Kim,Haron Abdel-Raziq,Xinyu Liu,Alexandra Young Siskovic,Shreyas Patil,Kirstin H. Petersen,Hsin-Liu Kao,Heather Jin Hee Kim,Haron Abdel-Raziq,Xinyu Liu,Alexandra Young Siskovic,Shreyas Patil,Kirstin H. Petersen,Hsin-Liu Kao
In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots and in this context, we present a new method to steer their growth. We characterize the mechanism in terms of accuracy resilience, and, towards their use as bar...
