Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

Author:

Webster Robert J.1,Jones Bryan A.2

Affiliation:

1. Department of Mechanical Engineering, Vanderbilt University, VU Station B 351592, Nashville, TN, USA,

2. Department of Electrical and Computing Engineering, James Worth Bagley College of Engineering, Mississippi State University, Mississippi State, MS, USA

Abstract

Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applications, coordinate frame choices, and analytical formalisms employed. In this paper we review several modeling approaches in a common frame and notational convention, illustrating that for piecewise constant curvature, they produce identical results. This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific. These mappings are then developed both for the single-section and for the multi-section case. Similarly, we discuss the decomposition of differential kinematics (the robot’s Jacobian) into robot-specific and robot-independent portions. The paper concludes with a perspective on several of the themes of current research that are shaping the future of continuum robotics.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Reference112 articles.

1. Discretization of a Continuous Curve

2. Antman, S.S. ( 2005). Nonlinear Problems of Elasticity, ( Applied Mathematical Sciences, Vol. 107) (2nd edition). New York, NY, Springer.

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