Tip-Clutching Winch for High Tensile Force Application with Soft Growing Robots
O. Godson Osele,Kentaro Barhydt,Nicholas Cerone,Allison M. Okamura,H. Harry Asada,O. Godson Osele,Kentaro Barhydt,Nicholas Cerone,Allison M. Okamura,H. Harry Asada
The navigational abilities of tip-everting soft growing robots, known as vine robots, are compromised when tip-mount devices are added to enable carrying of payloads. We present a new method for securing a vine robot to objects or its environment that exploits the unique eversion-based growth mechanism and flexibility of vine robots, while keeping the tip of the vine robot free of encumbrance. Our...
