Continuum robots - a state of the art

Like the human limbs which inspired them most robots are discrete mechanisms with rigid links connected by single degree of freedom joints. In contrast, `continuum´ and `serpentine´ robot mechanisms move by bending through a series of continuous arcs producing motion which resembles that of biological tentacles or snakes. This paper provides a single reference to the expanding technology of continuum robot mechanisms. It defines the fundamental difference between discrete, serpentine and continuum robot devices, presents the `state of the art´ of continuum robots, outlines their areas of application, and introduces some control issues. Finally, some conclusions regarding the continued development of these devices are made