A Novel Soft Growing Robot for Exploration and Rescue in Confined Environments

1. Funding Agency

NRF

2. Motivation

There is a growing need for disaster-response robots due to the increasing frequency of natural and man-made disasters. Rapid initial response is critical for minimizing casualties and property damage. However, there remains a significant gap between current robotic technologies and the capabilities required in disaster environments. In particular, robots capable of searching confined spaces and locating victims in collapsed structures are urgently needed. Such technologies could reduce fatalities by over 30% and lower rescue costs by more than 20%.

3. Objectives

This project develops a vine robot for confined space exploration with robust materials, shape sensing, and integrated end-effectors. It also includes intuitive teleoperation interfaces and vision-based perception for disaster response.

4. Results

Development of robust materials, reversible steering and retrieval mechanisms, and shape-sensing mechanisms for disaster environments

Development of novel vine robot hardware for material feeding and steering

Development of modular sensor platforms and integrated end-effectors combining gripper, camera, and sensors at the robot tip

Research on intuitive human interfaces and shared teleoperation methods

5. Related Publications

• Origami-inspired New Material Feeding Mechanism for Soft Growing Robots to Keep the Camera Stay at the Tip by Securing its Path (RA-L)
• A Soft Growing Robot Using Hyperelastic Material(ADVANCED INTELLIGENT SYSTEM)
• Self-Retractable Soft Growing Robots for Reliable and Fast Retraction While Preserving Their Inherent Advantages (RA-L)
• Inflatable-Structure-Based Working-Channel Securing Mechanism for Soft Growing Robots (RA-L)
• Reconfigurable Inflated Soft Arms (ICRA)
• High-Curvature Consecutive Tip Steering of a Soft Growing Robot for Improved Target Reachability (IROS)

6. Contact

• Shinwoo Park