Abstract
Continuum robots have the capability to perform flexible locomotion for navigation through tortuous paths. In this paper, we propose a multi-arm robot with multiple flexible tendon-driven continuum robots with magnets to demonstrate how compliance can be used to navigate through difficult environments. Furthermore, we propose an extended mathematical model from the Cosserat rod model to solve for the inverse kinematics of the robot to use motor displacements as inputs for robot control. We show an initial prototype of our system, and demonstrate the proposed robot's movement with an obstacle avoidance and an u-shaped locomotion experiment.