We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to manipulator deformation that is analogous to traditional robot forward kinematics. Our model generalizes across manipulators with different sizes, types of bending, and types of actuators, without the need for parameter re-fitting. The combination of generality and linearity makes the model useful for control and planning algorithms. Finally, our model is shown to be accurate through experimental validation on manipulators with pneumatic artificial muscles.

翻译：本文提出了一种新颖的通用模型，统一了常曲率和常扭转连续体机械臂的运动学。将该运动学与基于能量的物理模型相结合，我们推导出从执行器配置到机械臂形变之间的线性映射，该映射类似于传统机器人正运动学。我们的模型适用于不同尺寸、弯曲类型及执行器类型的机械臂，无需重新拟合参数。通用性与线性性的结合使该模型在控制与规划算法中具有实用价值。最后，通过气压人工肌肉机械臂的实验验证，证明了该模型的准确性。