Deformable Octahedron Burrowing Robot

摘要

This paper explores the use of a deformable octahedron robot as an alternative for the autonomous exploration of complex confined spaces, voids and tunneling structures. Current robotic platforms lack the capabilities for adapting their shape when moving through intricate sections of cavities. We discuss the geometrical and dynamical properties of a deformable octahedral platform. We use real and simulated robots to test and synthesize locomotion controllers that allow our robots to travel along different portions of a tunneling test bed. Evolutionary methods allow us to automatically produce controllers for in-pipe motion. We demonstrate the capabilities of peristaltic locomotion, different modes of deformation and volumetric adaptation. An evaluation of motion capabilities inside pipe elbows and branches is performed. Our results suggest that this type of deformable robot has a potential for travelling along confined spaces.