We introduce a new method for synthesizing kinematic relationships for a general class of
continuous backbone, or continuum, robots. The resulting kinematics enable real-time task …

We present a new variable curvature continuum kinematics for multisection continuum
robots with arbitrarily shaped backbone curves assembled from sections with three degrees …

It is at least two decades since the conventional robotic manipulators have become a
common manufacturing tool for different industries, from automotive to pharmaceutical. The …

Snake arm robots have flexible continuous constructions which can be used for accessing
confined places in many fields, eg, minimally invasive surgery and industry assembly. This …

A new method for inverse kinematics for hyper-redundant manipulators is proposed in this
paper to plan the path of the end-effector. The basic idea is that for a given smooth path …

Continuum robots are becoming increasingly popular due to the capabilities they offer,
especially when operating in cluttered environments, where their dexterity, maneuverability …

This letter investigates the mathematical relationships between the positions and
orientations at the segment tips of a piecewise constant curvature (PCC) continuum robot …

A hyper-redundant space manipulator has extreme flexibility and is suitable to work in highly
cluttered or multi-obstacles environment. However, its inverse kinematics is very challenging …

In this article, we review the state of the art in hyper-redundant manipulators for applications
in confined space such as on-orbit services. With their multiple degrees of freedom and …

A robotic system is kinematically redundant when it possesses more degrees of freedom
than those required to execute a given task. This paper reviews the well-known methods …