2024 CMU Robotics Institute Summer Researcher

Abstract—To explore these hazardous and unpredictable environment, we are developing a team of robots with complementary capabilities: Rescue Rollers (centimeter-scale spherical robots) and Vine Robots (large inflatable robots). Vine robots extend and navigate through complex environments by inflating their large-scale flexible bodies, whereas Rescue Rollers use their compact profile to move through or past obstacles which makes the combination ideal for tasks such as search and rescue and minimally invasive procedures. This paper focuses on determining which wheel designs generate the highest force across various terrains and understanding how different geometries perform under varying external conditions. Additionally, we develop a mechanism to allow the robot to transform from a spherical shape to one capable of maneuvering through challenging landscapes. This mechanism incorporates springs/magnets, linkages, and the conversion of kinetic and potential energy produced by the joint pieces.