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  4. Robotic Barrier Construction through Weaved, Inflatable Tubes

Robotic Barrier Construction through Weaved, Inflatable Tubes

File(s)
Liu_cornell_0058O_12008.pdf (10.17 MB)
mp4_-_SD_480p.mp4 (11.38 MB)
Permanent Link(s)
http://doi.org/10.7298/cshr-h550
https://hdl.handle.net/1813/115625
Collections
Cornell Theses and Dissertations
Author
Liu, Xinyu
Abstract

The Vinebot project presents a novel mechanism and a related path-planning algorithm for constructing light-duty barriers. The barriers are constructed using extruded, inflated tubes that are weaved around existing environmental features. These extruded tubes are based on everted vine robots, and we introduce a new method to steer their growth. The mechanism is characterized in terms of accuracy, resilience, and the ability of the tubes to withstand distributed loads. This is particularly important for their use as natural barriers. We also explore an algorithm that, given a feature map and the size and direction of the external load, can determine where and how to extrude the barrier. The potential of this method is showcased in an autonomously extruded two-layer wall weaved around three pipes. While the work is preliminary, it indicates that this method has the potential for barrier construction in cluttered environments, such as shelters against wind or snow.

Description
44 pages
Supplemental file(s) description: demo video.
Date Issued
2023-12
Committee Chair
Petersen, Kirstin
Committee Member
Shepherd, Robert
Degree Discipline
Mechanical Engineering
Degree Name
M.S., Mechanical Engineering
Degree Level
Master of Science
Type
dissertation or thesis
Link(s) to Catalog Record
https://newcatalog.library.cornell.edu/catalog/16454782

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