Continuum Robot

Continuum robots, characterized by their flexible, snake-like structures, are being developed for applications requiring dexterity in confined spaces, such as minimally invasive surgery and nuclear decommissioning. Current research emphasizes improved modeling and control, focusing on techniques like Cosserat rod theory, Gaussian processes for state estimation, and various path planning algorithms (e.g., RRT*, A*, and those leveraging manifold sampling). These advancements are driving progress in areas such as shape sensing (using vision, fiber optics, or electrical impedance tomography), kinematics, and control strategies for enhanced precision and robustness in complex environments.