A continuum robot includes a forward and backward movement unit configured to cause a plurality of bendable portions to perform forward movement or backward movement in a lengthwise direction, an attitude change unit configured to cause each of the bendable portions to bend to change an attitude, an attitude memory configured to store the attitude with regard to each of the bendable portions, and a control switching unit configured to perform, when the forward movement or the backward movement is detected, in a case where an attitude of at least one bendable portion deviates to a predetermined extent or beyond from an attitude of the at least one bendable portion which is stored in the attitude memory, switching as change control of the attitude for the attitude change unit from position control for changing the attitude into a specified attitude to control for changing the attitude following an external force.

An exemplary embodiment of the present disclosure provides a snake robotic device that can comprise a flexible member, one or more actuators. one or more tendons, and a controller. The flexible member can comprise a proximal end and a distal end. The one or more actuators can be configured to maneuver at least a portion of the flexible member. The one or more tendons each can comprise a first end connected to an actuator in the one or more actuators and a second end connected to a distinct portion of the flexible member, such that actuation of the one or more actuators can cause a resulting movement in the flexible member. The controller can be configured to transmit at least one control signal to the one or more actuators.

Provided are stimulus-responsive robots, comprising: an extensible actuator, the extensible actuator being configured such that extension and contraction of the extensible actuator effects a translational movement of the robot; and the first control unit being in mechanical communication with the extensible actuator, the first control unit comprising a first material responsive to a first external non-electrical stimulus, the control unit being configured to exert a bending force on the extensible actuator, the bending force being related to a response of the first material to the first external stimulus. Such robots can autonomously move toward and/or away from stimuli. Also provided are related methods.

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.

A continuum robot system includes: a continuum robot including a bendable body configured to bend via a plurality of linear members and a tensile force detector that detects tensile forces that have occurred in the linear members; a support base including a moving stage to which the continuum robot is attached, and a second drive source that slides the moving stage; and a control apparatus that controls, in a case where the tensile forces of the plurality of linear members are tensile forces in a same direction and at least one of the tensile forces exceeds a predetermined value when the second drive source is driven in a direction in which the bendable body is inserted into a target, the second drive source such that the second drive source is stopped or driven in an opposite direction.

A snake-arm robot and a servicing device are mechanically coupled. The mechanical coupling is accomplished by a longitudinal insertion of the snake-arm robot into the servicing device or the servicing device into the snake-arm robot. An actuator moves the snake-arm robot through a passage within an engine until the snake-arm robot reaches a desired location. The movement of the snake-arm robot concurrently moves the servicing device through the passage. Subsequently, the snake-arm robot is de-coupled from the servicing device and the snake-arm robot is removed from the engine while leaving the servicing device in place within the engine.

A system including one or more snake robots, and a plurality of ropes. The one or more snake robots are adapted to be coupled to each of the plurality of ropes in order to control movement of the plurality of ropes in an activity.

A control unit that controls the motion of a continuum robot including a bendable unit having a plurality of bending sections, defines a predetermined position on a wire guide located most distal from a base in the second bending section, which is a follower bending section, as an origin, sets reference axes for a direction in which the wire guide is facing, and causes a drive unit in the base to drive a wire of the third bending section so that the third bending section, which is a distal bending section, is bent on the basis of a relative coordinate system in which the origin and the reference axes relating to the wire guide vary in accordance with the movement of the continuum robot.

An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link.