Continuum robot appendages for traversal of uneven terrain in in situ exploration

摘要

In this paper, we analyze and discuss the potential for continuous form “continuum” appendages to transform the nature of robotic traversal of uneven terrain. 12Continuum robots are in many senses “dual” to traditional robot structures, with their inherent capabilities featuring strengths in areas that are key weaknesses for conventional robots. These capabilities match well to current challenges in mobility for in-situ exploration scenarios, particularly in environments featuring uneven terrain.