Design and implementation of a multi-section continuum robot: Air-Octor

@article{McMahan2005DesignAI,
  title={Design and implementation of a multi-section continuum robot: Air-Octor},
  author={William McMahan and Bryan A. Jones and Ian D. Walker},
  journal={2005 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2005},
  pages={2578-2585}
}
In this paper, we describe the design and implementation of a novel multi-section, continuous-backbone ("continuum") robot. The design is based on an innovative "hose-in-hose" concept. Its implementation is novel with respect to previous continuum robot designs in that stiffness and extension, in addition to bending, are actively controlled in each section of the robot. This requires a non-trivial extension of previously proposed kinematic models, and poses challenges for real-time control of… CONTINUE READING
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