摘要
由一名新闻记者兼机器人与机器学习每日新闻的工作人员新闻编辑根据NewsRx记者从华盛顿特区发回的新闻报道，由Inve Ntor TAKAGI，KIYOSHI（东京，JP）于2024年2月15日提交的专利申请于2024年6月6日在网上公布。本专利申请没有受让人。记者从发明人提供的背景信息中获得了以下引文：“本发明的领域”本公开涉及连续体机器人的控制系统及其控制方法。连续体机器人也被称为“连续体机器人”，并且包括具有柔性结构的可弯曲部分，通过使弯曲部分变形来控制连续体机器人的形状。这种连续体机器人与刚性连杆机器人(以下称为“Rigi D-Link机器人”)相比有两个主要优点:第一个优点是连续体机器人仅通过在刚性连杆机器人可能被卡住或处于环境中的狭窄空间中操纵连续体机器人的尖端就能够沿着目标物体的曲线运动。第二个优点是连续机器人天生柔软，因此可以在不损坏易碎目标物体的情况下操作，特别是在开放空间中。因此，连续机器人并不总是需要检测刚性连接机器人所需的末端执行器的外力。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-According to news reporting originatin g from Washington, D.C., by NewsRx journalists, a patent application by the inve ntor TAKAGI, KIYOSHI (Tokyo, JP), filed on February 15, 2024, was made available online on June 6, 2024. No assignee for this patent application has been made. Reporters obtained the following quote from the background information supplied by the inventors: " "Field of the Invention "The present disclosure relates to a control system for a continuum robot and a control method therefor. "Description of the Related Art "A continuum robot is also referred to as "continuum robot," and includes a curv able portion having a flexible structure, and a shape of the continuum robot is controlled by deforming the curvable portion. Such continuum robots have two mai n advantages over robots formed of rigid links (hereinafter referred to as "rigi d-link robots"). The first advantage is that the continuum robot is capable of m oving along a curved line of a target object only by manipulating a tip of the c ontinuum robot in a narrow space in which the rigid-link robot may be stuck or u nder an environment with scattered objects. The second advantage is that the con tinuum robot is innately supple and thus can be manipulated without damaging a f ragile target object, particularly in an open space. As such, the continuum robo ts do not always require detection of an external force at an end effector which is required by the rigid-link robots.
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