用自粘胶带诱导皱褶，实现软体藤蔓机器人的实时转向控制。
Real-time Two-tape Control System in Vine robots
- 通过自动贴胶带引发表面皱褶，实现2D空间中固定角度转向
- 实验验证可稳定完成21度转向，误差极小
- 适合需要灵活转向的软体机器人应用
本文提出一种新型实时转向控制方法，使生长型藤蔓机器人通过自主粘贴胶带诱导表面皱褶，实现任意多次转向的同时保持柔软结构。该系统将生长材料从管外引入，设计支持二维空间中的固定角度转弯。实验验证表明，结合杜宾路径规划器可重复实现21度转向，误差最小，为更广泛应用的藤蔓机器人奠定了基础。该方法融合实时控制、多自由度转向与结构柔性，解决了软体机器人中的关键挑战。
原文摘要 · Abstract (English)
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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