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. 2020 Nov 10;7:548266. doi: 10.3389/frobt.2020.548266

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Copyright © 2020 Blumenschein, Coad, Haggerty, Okamura and Hawkes.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Quasi-static modeling of everting vine robot growth. Model relates the driving force (internal pressure times tip cross-sectional area) to the losses due to the robot state, including (A) static yield force (i.e., driving force required to begin growth), (B) viscoplastic loss due to everting material, (C) exponential friction for moving tail material around curves in path, and (D) linear friction as a function of length/weight of tail material being transported. Modified from Blumenschein et al. (2017). Reprinted with permission from Springer Nature.