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Tip Manipulation in Soft Everting Robots via Wall Retraction and Deployable Fingers

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Soft everting robots can traverse long, confined paths by continuously growing, yet active interaction remains limited to a single tool fixed at or near the tip, unable to be repositioned on demand and difficult to reconcile with the robot's soft body. We introduce a tip-manipulation and multi-tool deployment strategy for soft everting robots based on wall retraction, implemented with a base roller assembly that independently meters membrane flow in the outer wall while a tail spool regulates growth in the internal tail section. Coordinated wall and tail actuation decouples robot length from m

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