arXiv subjects

Robert Reeve

Publications and source records attributed to Robert Reeve.

3 recordsLinked to original sources

arXiv2026

SPROUT: The Open-Source Soft Growing Robot for Search and Rescue

Soft robotic systems have long been theorized as ideal candidates for use in search and rescue operations; however, there have been significant barriers to entry in graduating soft robotic systems from the laboratory to the field. To address this gap in replicable, reliable soft robot systems, we present the designs for SPROUT, the Soft Pathfinding Robotic Observation Unit. The system has matured over years of interaction with professional urban search and rescue communities, with the goal of operating in dusty, wet, and isolated conditions. This manuscript contains supplementary material, including code, parts manifests, CAD assemblies, and build instructions to allow the broader robotics research community to build their own SPROUT systems. The modular hardware and ROS 2-based software stack support task-specific payloads and control functions, allowing SPROUT to be adapted for applications beyond search and rescue, including infrastructure inspection and archaeology. Here, we demonstrate SPROUT performing a variety of challenging inspection and traversal tasks in collapsed structure training sites used by first responders. The main project page is available online at https://sprout-mitll.github.io/sprout/.

cs.RO↗

arXiv2026

Gotta Grow Fast: Design and Benchmarking of a Tip Mount for High-Speed Vine Robots

Soft, growing vine robots extend through tip eversion, a mechanism that enables navigation through cluttered environments. However, integrating cameras and other sensors at the tip is uniquely challenging because the material forming the tip is constantly renewed as the robot grows. This continual material turnover, combined with friction between internal layers, added tip weight, and fabric constriction, complicates sensor and tool mounting. These limitations hinder the deployment of vine robots for inspection and search tasks, where rapid growth while carrying tip-mounted sensors is essential. In this work, we present a triangular roller tip mount that reduces internal resistance during growth by rolling rather than sliding against the robot body. The design was refined through iterative failure analysis, enabling, for the first time, consistent eversion on a TPU-coated ripstop nylon vine robot. To quantitatively evaluate mount performance, we introduce a custom testbed that isolates tip mounting effects by measuring tail tension during eversion. Comparative experiments across multiple mount variants, including prior designs, show that our triangular roller mount achieves the lowest tail tension and most repeatable growth performance. These results establish both a validated tip mount design and a repeatable benchmarking framework for advancing sensor and tool integration in soft growing robots. CAD for the mount and testbed is available at: https://sprout-mitll.github.io/tip_mounts/.

cs.RO↗

arXiv2015

Observation of room temperature magnetic skyrmions and their current-driven dynamics in ultrathin Co films

Magnetic skyrmions are topologically-protected spin textures that exhibit fascinating physical behaviors and large potential in highly energy efficient spintronic device applications. The main obstacles so far are that skyrmions have been observed in only a few exotic materials and at low temperatures, and manipulation of individual skyrmions has not yet been achieved. Here, we report the observation of stable magnetic skyrmions at room temperature in ultrathin transition metal ferromagnets with magnetic transmission soft x-ray microscopy. We demonstrate the ability to generate stable skyrmion lattices and drive trains of individual skyrmions by short current pulses along a magnetic racetrack. Our findings provide experimental evidence of recent predictions and open the door to room-temperature skyrmion spintronics in robust thin-film heterostructures.

cond-mat.mtrl-sci↗