Here you will find publications and research papers relating to vine robots. You can either click the links below to download the papers or you can view them online. These papers are meant for educational use only.

A Soft Robot That Navigates Its Environment Through Growth
E. W. Hawkes, L. H. Blumenschein, J. D. Greer and A. M. Okamura
In Science Robotics 2(8) 2017

Modeling of Bioinspired Apical Extension in a Soft Robot
L. H. Blumenschein, A. M. Okamura and E. W. Hawkes
In Biomimetic and Biohybrid Systems. Living Machines 2017, pp. 522-531

Pneumatic Reel Actuator: Design, Modeling, and Implementation
Z. M. Hammond, N. S. Usevitch, E. W. Hawkes and S. Follmer
In IEEE International Conference on Robotics and Automation 2017, pp. 626-633

Design of a Soft Catheter for Low-Force and Constrained Surgery
P. Slade, A Gruebele, Z. Hammond, M. Raitor, A. M. Okamura and E. W. Hawkes
In IEEE/RJS International Conference on Intelligent Robots and Systems (IROS) 2017, pp. 174-180

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot
J. D. Greer, T. K. Morimoto, A. M. Okamura and E. W Hawkes
In IEEE International Conference on Robotics and Automation 2017, pp. 5503-5510
Obstacle-Aided Navigation of a Soft Growing Robot
J. D. Greer, L. H. Blumenschein, A. M. Okamura and E. W. Hawkes
In IEEE International Conference on Robotics and Automation (ICRA) 2018, pp. 4165-4172

A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas
L. H. Blumenschein, L. Gan, J. Fan, A. M. Okamura and E. W. Hawkes
In IEEE Robotics and Automation Letters 2018, 3(2): 949-956

HapWRAP: Soft Growing Wearable Haptic Device
N. Agharese, T. Cloyd, L. H. Blumenschein, M. Raitor, E. W. Hawkes, H. Culbertson and A. M. Okamura
In IEEE International Conference on Robotics and Automation (ICRA) 2018, pp. 5466-5472

Helical actuation on a soft inflated robot body
L. H. Blumenschein, N.S. Usevitch, B. Do and E. W. Hawkes and A. M. Okamura
In IEEE International Conference on Soft Robotics (RoboSoft) 2018, pp. 245-252

Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization
N. D. Naclerio, C. M. Hubicki, Y. O. Aydin, D. I. Goldman and E. W. Hawkes
In IEEE/RSJ Internation Conference on Intelligent Robots and Systems (IROS) 2018, pp. 5918-5923

Development and Evaluation of an Intuitive Flexible Interface for Teleoperating Soft Growing Robots
H. El-Hussieny, U. Mehmood, Z. Mehdi, S. Jeong, M. Usman, E. W. Hawkes, A. M. Okamura and J. Ryu
In IEEE International Conference on Intelligent Robots and Systems (IROS) 2018, pp. 4995-5002

Dynamic Modeling of A Class of Soft Growing Robots Using Euler-Lagrange Formalism
H. El-Hussieny, U. Mehmood, S. G. Jeong and J. Ryu
In IEEE International Society of Instrument and Control Engineers (SICE) 2019
View on Researchgate

Eversion and Retraction of a Soft Robot Towards the Exploration of Coral Reefs
J. Luong, P. Glick, A. Ong, M.S. deVries, S. Sandin, E.W. Hawkes and M.T. Tolley
In IEEE International Conference on Soft Robotics (RoboSoft) 2019, pp. 801-807

Nutation Aids Heterogeneous Substrate Exploration in a Robophysical Root
Y. Ozkan-Aydin, M. Murray-Cooper, E. Aydin, E.N. McCaskey, N. Naclerio, E.W. Hawkes and D.I. Goldman
In IEEE International Conference on Soft Robotics (RoboSoft) 2019, pp. 172-177

Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration
M. M. Coad, L. H. Blumenschein, S. Cutler, J. A. Reyna, N. D. Naclerio, H. El-Hussieny, U. Mehmood, J. Ryu, E. W. Hawkes and A. M. Okamura
In IEEE Robotics & Automation Magazine 2019, pp. 2-14

Characterizing environmental interactions for soft growing robots
D. A.Haggerty, N. D. Naclerio and E. W. Hawkes
In IEEE International Conference on Intelligent Robots and Systems (IROS) 2019, pp. 3335-3342

A Soft, Steerable Continuum Robot That Grows via Tip Extension
J. D. Greer, T. K. Morimoto, A. M. Okamura and E. W. Hawkes
In Soft Robotics 6(1) 2019, pp. 95-108

Simple, Low-Hysteresis, Foldable, Fabric Pneumatic Artificial Muscle
N. D. Naclerio and E. W. Hawkes
In IEEE Robotics and Automation Letters 5(2) 2020, pp. 3406-3413

Robust navigation of a soft growing robot by exploiting contact with the environment
J. D. Greer, L. H. Blumenschein, R. Alterovitz, E. W. Hawkes and A. M. Okamura
In The International Journal of Robotics Research 2020

3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots
L. T. Gan, L. H. Blumenschein, Z. Huang, A. M. Okamura, E. W. Hawkes and J. A. Fan
In IEEE Robotics and Automation Letters 5(2) 2020, pp. 1704-1711

Retraction of Soft Growing Robots Without Buckling
M. M. Coad, R. P. Thompson, L. H. Blumenschein, N. S. Usevitch, E. W. Hawkes and A. M. Okamura
In IEEE Robotics and Automation Letters 5(2) 2020, pp. 2115-2122

A Dexterous Tip-extending Robot with Variable-length Shape-locking
S. Wang, R. Zhang, D. A. Haggerty, N. D. Naclerio and E. W. Hawkes
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 9035-9041

Design and Modeling of Soft Growing Robots
L. H. Blumenschein
Stanford University 2019

An obstacle-interaction planning method for navigation of actuated vine robots
M. Selvaggio, L. A. Ramirez, N. D. Naclerio, B. Siciliano and E. W. Hawkes
In IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 3227-3233

Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots
B. H. Do, V. Banashek, A. M. Okamura

Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots
L. H. Blumenschein, M.Koehler, N. S. Usevitch, E. W. Hawkes, D. C. Rucker, A. M. Okamura
In ArXiv 2020
In IEEE Transactions on Robotics, 2021

Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot
F. Stroppa, M. Luo, K. Yoshida, M. M. Coad, L. H. Blumenschein and A. M. Okamura
In IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 726-732

Upper Extremity Exomuscle for Shoulder Abduction Support
C. Simpson, B. Huerta, S. Sketch, M. Lansberg, E. Hawkes and A. Okamura
In IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 3, pp. 474-484, Aug. 2020

Design, Modeling, Control, and Application of Everting Vine Robots
L. H. Blumenschein, M. M. Coad, D. A. Haggerty, A. M. Okamura, and E. W. Hawkes
In Frontiers in Robotics and AI, 2020, p. 153