Research on Key Techniques of Dexterous Movement of Continuum Robots: A Review*

Continuum robot has good motion flexibility and strong environmental compliance. It can well adapt to large deformation and complex environment, and can carry out safe, dexterous and accurate intelligent interaction between robot and environment. Because of the above advantages, continuum robot can be widely used in medical equipment, industrial production and other fields. The realization of safe, stable and flexible intelligent interactive operation of continuum robot in constrained space is the focus and difficulty in these fields. The research status of continuum robot system is investigated and analyzed in aspects of model analysis, trajectory planning and control methods in this manuscript, so as to provide a useful reference for scholars related to continuum robot.