Webster R J Ⅲ, Okamura A M, Cowan N J.Toward active cannulas:miniature snake-like surgical robots[C]// Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.Beijing:IEEE, 2006:2857-2863
[2]
Webster R J Ⅲ, S K Jin, Cowan N J, et al.Nonholonomic modeling of needle steering[J].The International Journal of Robotics Research, 2006, 25 (5/6):509-525
[3]
Robinson G, Davies J B C.Continuum robot-a state of the art[C]// IEEE International Conference on Robotics and Automation.Detroit, Michigan:IEEE, 1999:2849-2854
[4]
胡海燕, 王鹏飞, 孙立宁, 等.线驱动连续型机器人的运动学分析与仿真[J].机械工程学报, 2010, 46 (19):1-8 Hu Haiyan, Wang Pengfei, Sun Lining, et al.Kinematic analysis and simulation of continuum robots actuated by use of string[J].Chinese Journal of Mechanical Engineer, 2010, 46 (19):1-8 (in Chinese)
[5]
Simaan N.Snake-like unit using flexible backbones and actuation redundancy for enhanced miniaturization[C]// IEEE International Conference on Robotics and Automation.Barcelona, Spain:IEEE, 2005:3012-3017
[6]
He Junhu, Liu Rong, Wang Ke, et al.The mechanical design of snake-arm robot[C]// IEEE 10th International Conference on Industrial Informatics.Beijing:IEEE, 2012:758-761
[7]
Simaan N, Taylor R, Flint P.A dexterous system for laryngeal surgery[C]// IEEE International Conference on Robotics and Automation.New Orleans, LA:IEEE, 2004:351-357
[8]
Jones B A, Walker I D.Kinematics for multisection continuum robots[J].IEEE Transactions on Robotics, 2006, 22 (1):43-55
[9]
Roger A B, Goldman A B, Simaan N.Compliant motion control for continuum robots with intrinsic actuation sensing[C]// IEEE International Conference on Robotics and Automation.Shanghai:IEEE, 2011:1126-1132
[10]
胡海燕, 王鹏飞, 孙立宁, 等.线驱动连续型机器人的运动学分析与仿真[J].机械工程学报, 2010, 46 (19):1-8 Hu Haiyan, Wang Pengfei, Sun Lining, et al.Kinematic analysis and simulation of continuum robots actuated by use of string[J].Chinese Journal of Mechanical Engineer, 2010, 46 (19):1-8 (in Chinese)
[11]
蔡自兴.机器人学[M].2版.北京:清华大学出版社, 2009:18-42 Cai Zixing.Robotics[M].2nd ed.Beijing:Tsinghua University Press, 2009:18-42 (in Chinese)
[12]
Camarillo D B, Milne C F, Carlson C R, et al.Mechanics modeling of tendon-driven continuum manipulators[J].IEEE Transactions on Robotics, 2008, 24 (6):1262-1273
[13]
蔡自兴.机器人学[M].2版.北京:清华大学出版社, 2009:18-42 Cai Zixing.Robotics[M].2nd ed.Beijing:Tsinghua University Press, 2009:18-42 (in Chinese)
[14]
Chen G, Pham M T, Redarce T.A semi-autonomous micro-robotic system for colonoscopy[C]// IEEE International Conference on Robotics and Biomimetics.Bangkok, Thailand:IEEE, 2009:703-708
[15]
Webster R J Ⅲ, Okamura A M, Cowan N J.Toward active cannulas:miniature snake-like surgical robots[C]// Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.Beijing:IEEE, 2006:2857-2863
[16]
Webster R J Ⅲ, S K Jin, Cowan N J, et al.Nonholonomic modeling of needle steering[J].The International Journal of Robotics Research, 2006, 25 (5/6):509-525
[17]
He Junhu, Liu Rong, Wang Ke, et al.The mechanical design of snake-arm robot[C]// IEEE 10th International Conference on Industrial Informatics.Beijing:IEEE, 2012:758-761