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What is continuum manipulator arm?

Reinforcement learning

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A continuum manipulator arm is a type of robot arm with multiple degrees of freedom, offering high flexibility and compliance for various manipulation tasks and interactions with the environment. These arms are designed to be modular, reconfigurable, and cable-driven, making them suitable for underwater manipulation tasks with remotely operated vehicles (ROVs). Wire-driven continuum manipulators, a specific type of continuum arm, aim to minimize friction issues between the driving wire and rigid parts to enhance performance and reduce stress on motors. Additionally, continuum robots can excel in tasks like crank rotation and object throwing due to their unique characteristics, as demonstrated through simulations and reinforcement learning experiments. A paradigm shift towards using multiple continuum robots in a cooperative manner has also been proposed to enhance precision, stiffness, and payload capabilities in challenging environments.

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Proceedings Article•DOI Design and Development of Wire-Driven Pulley Guided Continuum Robot (WPGCR) Arm and Friction Analysis 11 Jul 2022	A continuum manipulator arm is a type of robot arm structure that offers flexibility and dexterity, with the proposed Wire-Driven Pulley Guided Continuum Robot (WPGCR) arm aiming to reduce friction.
Open access•Journal Article•DOI Cooperative Continuum Robots: Enhancing Individual Continuum Arms by Reconfiguring Into a Parallel Manipulator 01 Apr 2022-IEEE robotics & automation letters 14 Citations	A continuum manipulator arm is a flexible robotic arm that can navigate cluttered environments. The paper suggests enhancing individual arms by reconfiguring them into a parallel manipulator for improved capabilities.
Journal Article•DOI A Modular Open-Source Continuum Manipulator for Underwater Remotely Operated Vehicles Justin L. Sitler, Long Wang - Show less +1 more 11 Apr 2022-Journal of Mechanisms and Robotics 6 Citations	A continuum manipulator arm is a highly flexible robot with many degrees of freedom, ideal for underwater manipulation tasks with a remotely operated vehicle (ROV).
Open access•Journal Article•DOI Characterization of continuum robot arms under reinforcement learning and derived improvements 01 Sep 2022-Frontiers in Robotics and AI	A continuum manipulator arm is a flexible robot arm that offers advantages over rigid manipulators, as shown in the study through reinforcement learning for various tasks.
Journal Article•DOI Design and Development of Wire-Driven Pulley Guided Continuum Robot (WPGCR) Arm and Friction Analysis Azamat Yeshmukhametov, Koichi Koganezawa - Show less +1 more 11 Jul 2022	A continuum manipulator arm is a robot structure that can bend and move continuously, offering flexibility in various applications, as discussed in the paper on wire-driven pulley guided continuum robot arm.

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