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This makes sense for rigid-bodied robots, where obstacle collisions are fundamentally dangerous. However, because many soft robots have bodies that are low-inertia and compliant, obstacle contact is inherently safe. As a result, constraining paths of the robot to not interact with the environment is not necessary and may be limiting. In this article, we mathematically formalize interactions of a soft growing robot with a planar environment in an empirical kinematic model. Using this interaction model, we develop a method to plan paths for the robot to a destination. Rather than avoiding contact with the environment, the planner exploits obstacle contact when beneficial for navigation. We find that a planner that takes into account and capitalizes on environmental contact produces paths that are more robust to uncertainty than a planner that avoids all obstacle contact. <\/jats:p>","DOI":"10.1177\/0278364920903774","type":"journal-article","created":{"date-parts":[[2020,3,20]],"date-time":"2020-03-20T14:51:50Z","timestamp":1584715910000},"page":"1724-1738","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":92,"title":["Robust navigation of a soft growing robot by exploiting contact with the environment"],"prefix":"10.1177","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8503-8360","authenticated-orcid":false,"given":"Joseph D","family":"Greer","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"}]},{"given":"Laura H","family":"Blumenschein","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"}]},{"given":"Ron","family":"Alterovitz","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"}]},{"given":"Elliot W","family":"Hawkes","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA"}]},{"given":"Allison M","family":"Okamura","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"}]}],"member":"179","published-online":{"date-parts":[[2020,3,20]]},"reference":[{"key":"bibr1-0278364920903774","volume-title":"Principles of Robot Motion: Theory, Algorithms, and Implementation","author":"Choset HM","year":"2005"},{"key":"bibr2-0278364920903774","unstructured":"Coad MM, Blumenschein LH, Cutler S, et al. 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