期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/55270
语种：English
出版社：SAGE Publications
摘要：In this paper, we examine key issues underlying the design and operation of robots featuring continuous body (“continuum”) elements. We contrast continuum and continuum-like robots created to date with their counterparts in the natural world. It is observed that natural continuum locomotors or manipulators almost invariably rely on hard or discrete elements (in their structure or operation) in their interactions with their environment. We suggest innovations in continuum robot design and operation motivated by this observation, supported by experiments using the “Tendril” continuum robot. The results suggest new ways in which continuum robot operations could be significantly enhanced. In particular, the exploitation of “hard” and “discrete” environmental features can greatly enhance stability in continuum robot operations, compensating for inherent backbone compliance. Additionally, the incorporation of discrete behaviours (sweeping and striking with the backbone) can both compensate for imprecision in continuum robot control and enable new impulsive manipulation modes. We discuss the implications for the creation and potential application of novel hybrid continuum and discrete robots.
