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Soft pneumatic actuators are used to steer soft growing "vine" robots whilebeing flexible enough to undergo the tip eversion required for growth. In thisstudy, we compared the performance of three types of pneumatic actuators interms of their ability to perform eversion, quasi-static bending, dynamicmotion, and force output: the pouch motor, the cylindrical pneumatic artificialmuscle (cPAM), and the fabric pneumatic artificial muscle (fPAM). The pouchmotor is advantageous for prototyping due to its simple manufacturing process.The cPAM exhibits superior bending behavior and produces the highest forces,while the fPAM actuates fastest and everts at the lowest pressure. We evaluateda range of dimensions for each actuator type. Larger actuators can produce moresignificant deformations and forces, but smaller actuators inflate faster andcan evert at a lower pressure. Because vine robots are lightweight, the effectof gravity on the functionality of different actuators is minimal. We developeda new analytical model that predicts the pressure-to-bending behavior of vinerobot actuators. Using the actuator results, we designed and demonstrated a 4.8m long vine robot equipped with highly maneuverable 60x60 mm cPAMs in athree-dimensional obstacle course. The vine robot was able to move around sharpturns, travel through a passage smaller than its diameter, and lift itselfagainst gravity.

A Comparison of Pneumatic Actuators for Soft Growing Vine Robots