The Importance of Continuous and Discrete Elements in Continuum Robots

摘要: In this paper, we examine key issues underlying the design and operation of robots featuring continuous body (“continuum”) elements. We contrast continuum continuum-like created to date with their counterparts in natural world. It is observed that locomotors or manipulators almost invariably rely on hard discrete elements (in structure operation) interactions environment. suggest innovations robot motivated by observation, supported experiments using “Tendril” robot. The results new ways which operations could be significantly enhanced. particular, exploitation “hard” “discrete” environmental features can greatly enhance stability operations, compensating for inherent backbone compliance. Additionally, incorporation behaviours (sweeping striking backbone) both compensate imprecision co...