Growing Robot Eversion Steering in Constrained Environments

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Solution Overview

Problem

Current robotics lacks effective navigation methods in constrained or cluttered environments, as traditional locomotion modes are sensitive to mechanical properties of surroundings and require significant power to move, whereas growth-based navigation offers advantages like reduced friction and stationary power sources, but has been under-explored in robotics.

Innovation Solution

A robot with a thin-walled, hollow, pressurized body that elongates by everting new wall material from its tip, controlled by artificial muscles to manage shape and direction, allowing it to navigate through growth rather than traditional movement, decoupling steering and growth for efficient path alignment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Use of energy by moving object

If traditional locomotion modes are used, then the robot can move in open environments, but it is sensitive to mechanical properties of surroundings and requires significant power to move

Engineering Contradiction:

Improvepower consumptionVSAvoidsensitivity to mechanical properties

Core Design Contradiction:

Use of energy by moving objectVSAdaptability or versatility

Solution Approach 1:

Instead of moving the entire robot body through traditional locomotion, the invention inverts the approach by growing new body material from the tip outward. This allows the robot to extend into the environment rather than move through it, eliminating sliding friction and reducing power consumption while improving adaptability to constrained and cluttered spaces

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The invention replaces traditional mechanical locomotion systems (motors, wheels, legs) with a growth-based system that uses material extrusion and eversion. This substitution eliminates the need for complex mechanical interactions with the environment, reducing sensitivity to mechanical properties of surroundings

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of operation

If growth-based navigation is used, then friction is reduced and power source can be stationary, but the robot lacks directional control and shape management capability

Engineering Contradiction:

Improvedirectional controlVSAvoidcontrol mechanism

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The invention applies local quality by distributing artificial muscles at specific locations along the robot body (opposing sides) to control local shape changes. This enables directional control during growth by selectively contracting muscles on one side to bend the body, while maintaining the simplicity of growth-based navigation

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The invention implements dynamics by making the robot body compliant and adaptable through the integration of artificial muscles that can dynamically adjust the body shape during growth. This allows the robot to actively control its configuration in response to environmental constraints while maintaining growth as the primary locomotion mechanism

Inventive Principle:

Principle #15Dynamics

3Strength

If the robot elongates by everting new wall material, then high-speed lengthening is achieved, but the robot loses ability to maintain structural integrity

Engineering Contradiction:

Improvestructural integrityVSAvoidbody length

Core Design Contradiction:

StrengthVSLength of moving object

Solution Approach 1:

The invention applies preliminary action by pre-storing wall material in a compact form within the robot body before growth is needed. This allows the robot to rapidly evert pre-formed structural material during growth, achieving high-speed lengthening while maintaining structural integrity because the material is already prepared and positioned for immediate deployment

Inventive Principle:

Principle #10Preliminary action

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables efficient navigation in constrained environments with reduced sensitivity to mechanical properties and stationary power, achieving high-speed lengthening and directional control, allowing the robot to reach designated positions and create complex structures.

Implementation Method 1

A robot with a thin-walled, hollow, pressurized body that elongates by everting new wall material from its tip

Methodology Applied

Scientific EffectPressure-driven eversion: Pressure Increase

Implementation Method 2

controlled by artificial muscles to manage shape and direction

Methodology Applied

Scientific EffectArtificial muscle contraction:

Data Source

PatentUS10954789B2Robotic mobility and construction by growth

Publication Date: 2021.03.23 THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIV

AI summary

A robot for navigating an environment through growth is provided. The growing robot has a thin-walled, hollow, pressurized, compliant body that elongates the body by everting from its tip new wall material that is stored inside the body. The robot controls the shape of the body by actively controlling the relative lengths of the wall material along opposing sides of the body allowing steering.