Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots

Continuum and soft robots can leverage complex actuator shapes to take onuseful while actuating only a few of their many degrees freedom. robotsthat alsogrow increasethe range potential that be actuated enable easier access constrained environments. Existing models for describing the kinematics involved in general actuation continuum rely on simulation or well-behaved stress–strain relationships, but nonlinear behavior thin-walled inflated-beams used growing makes these techniques difficult apply. Here, we derive kinematic single, generally routed tendon paths pneumatic backbone inextensible flexible material from geometric relationships alone. This allows forward modeling resulting with knowledge geometry system. We show this model accurately predict shape whole robot body how changes type. also demonstrate use inverse design, where designs are found based desired final shapes. deploy designed actuators benefits simultaneous growth change.