Continuum Robots: An Overview

被引：107

作者：

Russo, Matteo ^{[1
]}

Sadati, Seyed Mohammad Hadi ^{[2
]}

Dong, Xin ^{[1
]}

Mohammad, Abdelkhalick ^{[1
]}

Walker, Ian D. D. ^{[3
]}

Bergeles, Christos ^{[2
]}

Xu, Kai ^{[4
]}

Axinte, Dragos A. A. ^{[1
]}

机构：

[1] Univ Nottingham, Fac Engn, Nottingham NG8 1BB, England

[2] Kings Coll London, Sch Biomed Engn & Imaging Sci, London WC2R 2LS, England

[3] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

[4] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200240, Peoples R China

来源：

ADVANCED INTELLIGENT SYSTEMS | 2023年 / 5卷 / 05期

关键词：

continuum robots; control; design; modeling; robotics; soft robots; CONCENTRIC TUBE ROBOTS; CLIMBING PLANTS; CONSTANT CURVATURE; DYNAMIC-MODEL; SOFT ROBOTICS; DESIGN; MANIPULATOR; KINEMATICS; STIFFNESS; SHAPE;

D O I：

10.1002/aisy.202200367

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Herein, recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots are discussed. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, enabling currently unachievable tasks for medical, industrial, and service applications. The recent surge in research on these robots leads to significant advances in design, modeling, and control methods. Herein, these developments with a comprehensive review of existing continuum robots and emerging technologies are examined. Then, modeling and control approaches are compared, and navigation strategies exclusive to continuum robots, such as follow the leader, coiling, and circumnutation are examined. Finally, an overview of their applications is provided with a focus on industrial and service tasks, outlining open research challenges and future developments.

引用

页数：25

共 257 条

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