外观
论文arXiv 2609.231321 个月前
通过壁面回缩和可部署手指实现软体外翻机器人的尖端操控
原文链接：Tip Manipulation in Soft Everting Robots via Wall Retraction and Deployable Fingers（arXiv 2609.23132 · 发布日期：2026-09-19）
Tip Manipulation in Soft Everting Robots via Wall Retraction and Deployable Fingers
针对软体外翻机器人尖端工具难重定位的问题，提出壁面回缩与充气手指方案，并在抓取、堆叠、检查和投送中验证。
核心要点
- 软体外翻机器人虽能在狭长受限路径中生长，但主动交互通常受限于固定尖端工具。
- 基座滚轮独立计量外壁膜流，尾部卷轴调节内部尾段生长，解耦长度与膜材料位置。
- 膜集成超轻褶皱充气手指，运输时保持柔软，低压下可大幅弯曲并产生阻挡力。
- 系统展示多样家居物体自适应抓取、三维操控堆叠、受环境支撑延伸、相机转动检查和顺序投送。
验证范围与局限：验证范围为摘要所述家居物体抓取、三维操控堆叠、受环境支撑延伸、受限空间检查和顺序载荷投送。
英文摘要 (Abstract)
Soft everting robots can traverse long, confined paths by continuously growing, yet active interaction remains limited to a single tool fixed at or near the tip, unable to be repositioned on demand and difficult to reconcile with the robot's soft body. We introduce a tip-manipulation and multi-tool deployment strategy for soft everting robots based on wall retraction, implemented with a base roller assembly that independently meters membrane flow in the outer wall while a tail spool regulates growth in the internal tail section. Coordinated wall and tail actuation decouples robot length from membrane-material position, enabling membrane-mounted devices to be transported, exposed, and repositioned at selected locations near the distal tip. We pair this capability with ultralight pleated inflatable fingers integrated into the membrane, fabricated from TPU-coated nylon with an internal airtight bladder. The fingers achieve large bending at low pressures (approximately 100 degrees at 50 kPa in high-pleat designs) and generate blocking forces up to 1.9 N, while remaining limp during transport. The system demonstrates adaptive grasping across diverse household objects (21 to 550 g; 16 to 200 mm), three-dimensional object manipulation and stacking, environmentally braced extension, distal camera panning for confined-space inspection, and controlled sequential payload delivery. These results enable embodied and reversible tip manipulation for soft growing robots in cluttered and tortuous environments.
作者：Nelson G. Badillo Perez, Niccolò Pagliarani, Matteo Cianchetti, Robert D. Howe
来源
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