Continuum Robots: Current Trends in Design, Control, and Applications
Kalekeyeva M. Konakbay Z. Imanbekova M. Shakbutova A. Garmash O. Muratbekova G. Mambetalin D.
2025Institute of Electrical and Electronics Engineers Inc.
IEEE Access
2025#13106771 - 106792 pp.
The presence of a multi-segmented and malleable structure makes continuum robot (CR) promising for use in medicine, industry, space, and deep-sea research. This trend encourages researchers worldwide to create fundamentally new types of continuously deformable CR structures suitable for various applications and delicate manipulations. Despite promising achievements, the processes of design, modeling, control system development, and improvement of existing CR mechanisms remain quite complex. Taking into account the main technological features of existing solutions, this article provides a comprehensive overview of the current state of continuums robots. The analysis covers general problems arising in the design of CRs, and possible solutions are also considered, allowing the full potential of CRs for wider application to be revealed. This work aims to analyze key design and modeling methods, where the main approaches to the process of creating CRs have been classified. Taking into account the identified limitations and problems in their practical application, this review focuses on their advantages, design principles, mathematical modeling, and control strategies. Modern approaches to kinematic and dynamic modelling of CRs and CR control algorithms, including AI-based methods, were analyzed. As a result, promising directions for improving CRs for various applications were identified.
artificial intelligence (AI) , Bio-inspired robots , continuous structure , continuum robot , control algorithms , hybrid designs , kinematic and dynamic modeling , soft robotics
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Civil Aviation Academy, Almaty, 050016, Kazakhstan
Turan University, Faculty of Economics, Department of Higher School of Marketing and Logistics, Almaty, 050016, Kazakhstan
Almaty Management University, Almaty, 050016, Kazakhstan
University of Illinois at Urbana-Champaign, Department Global Education and Training (GET), Champaign, 61820, IL, United States
Civil Aviation Academy
Turan University
Almaty Management University
University of Illinois at Urbana-Champaign
10 лет помогаем публиковать статьи Международный издатель
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