  A new class of continuum robots has recently been explored, characterized by
tip extension, significant length change, and directional control. Here, we
call this class of robots "vine robots," due to their similar behavior to
plants with the growth habit of trailing. Due to their growth-based movement,
vine robots are well suited for navigation and exploration in cluttered
environments, but until now, they have not been deployed outside the lab.
Portability of these robots and steerability at length scales relevant for
navigation are key to field applications. In addition, intuitive
human-in-the-loop teleoperation enables movement in unknown and dynamic
environments. We present a vine robot system that is teleoperated using a
custom designed flexible joystick and camera system, long enough for use in
navigation tasks, and portable for use in the field. We report on deployment of
this system in two scenarios: a soft robot navigation competition and
exploration of an archaeological site. The competition course required movement
over uneven terrain, past unstable obstacles, and through a small aperture. The
archaeological site required movement over rocks and through horizontal and
vertical turns. The robot tip successfully moved past the obstacles and through
the tunnels, demonstrating the capability of vine robots to achieve navigation
and exploration tasks in the field.
