Modeling of continuum robots: A review

Abstract

Continuum robots offer good environmental adaptability and superior safety in human-robot interaction. This paper describes the state of the art in continuum robot modeling and summarizes and evaluates the mainstream continuum robot modeling approaches in the current community through three different classifications: continuum models, geometric models, and data-driven models. Finally, the paper provides a summary of existing research approaches and provides future research opportunities in continuum robot modeling.