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Growing soft materials which follow a 3D path in space are critical toapplications such as search and rescue and minimally invasive surgery. Here, wepresent a concept for a single-input growing multi-stable soft material, basedon a constrained straw-like structure. This class of materials are capable ofmaneuvering and transforming their configuration by elongation while executingmultiple turns. This is achieved by sequenced actuation of bi-stable frustawith predefined constraints. Internal viscous flow and variations in thestability threshold of the individual cells enable sequencing and control ofthe robot's movement so as to follow a desired 3D path as the structure grows.We derive a theoretical description of the shape and dynamics resulting from aparticular set of constraints. To validate the model and demonstrate thesuggested concept, we present experiments of maneuvering in models ofresidential and biological environments. In addition to performing complex 3Dmaneuvers, the tubular structure of these robots may also be used as a conduitto reach inaccessible regions, which is demonstrated experimentally.

Growing structure based on viscous actuation of constrained multistable elements