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Snake-like and continuum robots
Walker, I.D.; Choset, H.; Chirikjian, G.S. (2016). Snake-like and continuum robots, in: Siciliano, B. et al. Springer handbook of robotics. pp. 481-498. https://dx.doi.org/10.1007/978-3-319-32552-1_20
In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1, more
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  • Walker, I.D.
  • Choset, H.
  • Chirikjian, G.S.
Abstract
    This chapter provides an overview of the state of the art of snake-like (backbones comprised of many small links) and continuum (continuous backbone) robots. The history of each of these classes of robot is reviewed, focusing on key hardware developments. A review of the existing theory and algorithms for kinematics for both types of robot is presented, followed by a summary of modeling of locomotion for snake-like and continuum mechanisms.
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