RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications

Pascal Auf der Maur,Betim Djambazi, Yves Haberthür, Patricia Hörmann,Alexander Kübler, Michael Lustenberger, Samuel Sigrist, Oda Vigen,Julian Förster,Florian Achermann,Elias Hampp,Robert K. Katzschmann,Roland Siegwart

2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)（2021）

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摘要

RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communicating with trapped people. It employs the principle of vine robots for locomotion, everting the tip of its tube to move forward. Inside the tube, pneumatic actuators enable lateral movement. The head carries sensors and i...

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关键词

Pneumatic actuators,Buildings,Decentralized control,Prototypes,Pneumatic systems,Soft robotics,Robot sensing systems

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