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Soft robot serial chain manipulators with the capability for growth,stiffness control, and discrete joints have the potential to approach thedexterity of traditional robot arms, while improving safety, lowering cost, andproviding an increased workspace, with potential application in homeenvironments. This paper presents an approach for design optimization of suchrobots to reach specified targets while minimizing the number of discretejoints and thus construction and actuation costs. We define a maximum number ofallowable joints, as well as hardware constraints imposed by the materials andactuation available for soft growing robots, and we formulate and solve anoptimization problem to output a planar robot design, i.e., the total number ofpotential joints and their locations along the robot body, which reaches allthe desired targets, avoids known obstacles, and maximizes the workspace. Wedemonstrate a process to rapidly construct the resulting soft growing robotdesign. Finally, we use our algorithm to evaluate the ability of this design toreach new targets and demonstrate the algorithm's utility as a design tool toexplore robot capabilities given various constraints and objectives.

Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints