Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-robot interaction (HRI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses significant challenges for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for bionic robotics that addresses these challenges by integrating system architecture, dynamics computation, and control strategy. The proposed method allows for efficient modeling and quick preview of the results in both digital and physical environments, which can enhance the quality of robot developments.

翻译：连续体机器人凭借其自适应、响应灵敏及柔顺的特性，在多样化应用中展现出革新人机交互领域的潜力，其发展通常依赖于跨学科与多媒体的协同合作。尽管前景广阔，但缺乏集成化框架为用户和开发者带来了显著挑战，导致初步开发阶段效率低下且复杂度高。为此，本文提出一种仿生机器人统一框架，通过整合系统架构、动力学计算与控制策略以应对上述问题。所提方法支持在数字与物理环境中进行高效建模与结果快速预览，有望提升机器人开发的质量。