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：2006
卷号：3
期号：2
DOI：10.5772/5740
语种：English
出版社：SAGE Publications
摘要：In this paper, we analyze the capabilities of a novel class of continuous-backbone (“continuum”) robots. These robots are inspired by biological “trunks, and tentacles”. However, the capabilities of established continuum robot designs, which feature controlled bending but not extension, fall short of those of their biological counterparts. In this paper, we argue that the addition of controlled extension provides dual and complementary functionality, and correspondingly enhanced performance, in continuum robots. We present an interval-based analysis to show how the inclusion of controllable extension significantly enhances the workspace and capabilities of continuum robots.
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