Bio-inspired continuum robots
Discrete robots
- Rigid structure
- Limited DOF
- Need for end-effector
Continuum robots
- Compliant structure
- High flexibility
- Able to change its shape
- Suitable for constrained environment

Continuum kinematics and dynamics
- Longitudinal & radial muscle
- Muscular Hydrostat
- Variable stiffness
- Hydrodynamic forces
- Interaction with the environment
- Modular modeling method
Control strategy
Hierarchical and distributed architecture
- Central nerve system(CNS)
- Peripheral Nerve system(PNS)
Feedback
- Vision
- Accelerometer, strain and tactile sensor
Pneumatic prototypes
- Artificial pneumatic muscles
- Operating pressure:0~5 bar
- Serially connected segments
- Parallel actuation in each segment
Shape Memory Actuator(SMA)and Cable driven prototypes
- Longitudinal muscle:SMA or cable driven
- Radial muscle:12 groups of SMA
- Silicon skin and suckers
- Tactile and vision feedback