Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review

摘要: Hyper-redundant (or snakelike) manipulators have many more degrees of freedom than are required to position and orient an object in space. They been employed a variety applications ranging from search-and-rescue minimally invasive surgical procedures, recently they even proposed as solutions problems maintaining civil infrastructure the repair satellites. The kinematic dynamic properties snakelike robots captured naturally using continuum backbone curve equipped with evolving set reference frames, stiffness properties, mass density. When robot has architecture, corresponds physical device itself. Interestingly, these same modeling ideas can be used describe conformational shapes DNA molecules filamentous protein structures solution cells. This paper reviews several classes robots: (1) hyper-redundant guided by curves; (2) flexible steerable needles; (3) concentric tube robots. It is then shown how mathematical methods robotics contexts model such DNA. All treated context common framework based on differential geometry curves, mechanics, variational calculus. Both coordinate-dependent Euler-Lagrange formulations coordinate-free Euler-Poincare approaches reviewed.