Continuous Backbone “ Continuum ” Robot Manipulators : A Review

By Ian D. Walker. 2013

373 citations recorded by the source corpus.

This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.

Subfields: Biomedical Engineering, Control and Systems Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/f3d09ed77771cca4125cd298c47f115a23b0680f

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In Biomedical Engineering

In Control and Systems Engineering

In Ocean Engineering

Citations in the corpus

A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant (2014, background): “See [14]–[17] for a more detailed collection.”
Soft Manipulators and Grippers: A Review (2016, background): “Continuum robots often have a continuous and compliant backbone with a large number of degrees of freedom, for which cables form a simple and straightforward solution for attachment and control (Walker, 2013).”
Continuum Robots for Medical Applications: A Survey (2015, background): “, on continuum robots in general [13], [21], [22], snake-inspired hyper-”