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There are many spaces inaccessible to humans where robots could help deliversensors and equipment. Many of these spaces contain three-dimensionalpassageways and uneven terrain that pose challenges for robot design andcontrol. Everting toroidal robots, which move via simultaneous eversion andinversion of their body material, are promising for navigation in these typesof spaces. We present a novel soft everting toroidal robot that propels itselfusing a motorized device inside an air-filled membrane. Our robot requires onlya single control signal to move, can conform to its environment, and can climbvertically with a motor torque that is independent of the force used to bracethe robot against its environment. We derive and validate models of the forcesinvolved in its motion, and we demonstrate the robot's ability to navigate amaze and climb a pipe.

Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces