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Public communication of science & technology, 2012(21): 30, 29. [3] 王田苗, 郝雨飞, 杨兴帮, 等. 软体机器人: 结构、驱动、传 感与控制 [J]. 机械工程学报, 2017, 53(13): 1–13. WANG Tianmiao, HAO Yufei, YANG Xingbang, et al. Soft robotics: structure, actuation, sensing and control[J]. Journal of mechanical engineering, 2017, 53(13): 1–13. [4] ROBINSON G, DAVIES J B C. Continuum robots - a state of the art[C]//Proceedings of 1999 IEEE International Con￾ference on Robotics and Automation. Detroit, USA, 1999: 2849-2854. [5] BUCKINGHAM R. Snake arm robots[J]. Industrial robot: an international journal, 2002, 29(3): 242–245. [6] NIU Guochen, ZHENG Zunchao, GAO Qingji. Collision free path planning based on region clipping for aircraft fuel tank inspection robot[C]//Proceedings of 2014 IEEE Inter￾national Conference on Robotics and Automation. Hong Kong, China, 2014: 3227−3233. [7] GILBERT H B, RUCKER D C, WEBSTER III R J. Con￾centric tube robots: the state of the art and future direc￾tions[J]. Robotics research, 2016: 253–269. [8] CONRAD B L, ZINN M R. Interleaved continuum-rigid manipulation: an approach to increase the capability of minimally invasive surgical systems[J]. IEEE/ASME trans- [9] actions on mechatronics, 2017, 22(1): 29–40. DONG X, AXINTE D, PALMER D, et al. Development of a slender continuum robotic system for on-wing in￾spection/repair of gas turbine engines[J]. Robotics and computer-integrated manufacturing, 2017, 44: 218–229. [10] BUCKINGHAM R, GRAHAM A. Nuclear snake-arm ro￾bots[J]. Industrial robot, 2012, 39(1): 6–11. [11] 孙立宁, 胡海燕, 李满天. 连续型机器人研究综述 [J]. 机 器人, 2010, 32(5): 688–694. SUN Lining, HU Haiyan, LI Mantian. A review on con￾tinuum robot[J]. Robot, 2010, 32(5): 688–694. [12] 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. Kinemat￾ic analysis and simulation for cable-driven continuum ro￾bot[J]. Journal of mechanical engineering, 2010, 46(19): 1–8. [13] 钱文欢. 仿象鼻混合关节连续型机器人的设计与分 析 [D]. 合肥: 中国科学技术大学, 2014. QIAN Wenhuan. Design and analysis of a trunk-like con￾tinuum robot with hybrid joints[D]. Hefei: University of Science and Technology of China, 2014. [14] ZHAO Jianghai, YE Xiaodong, QIAN Wenhuan. Re￾search on kinematic modeling of octopus-like arm manip￾ulator composed with mixed joints[J]. Applied mechanics and materials, 2014, 461: 278–283. [15] LI Minhan, KANG Rongjie, GENG Shineng, et al. Design and control of a tendon-driven continuum robot[J]. Transactions of the institute of measurement and control, 2018, 40(11): 3263–3272. [16] DONG Xin, RAFFLES M, COBOS-GUZMAN S, et al. A novel continuum robot using twin-pivot compliant joints: design, modeling, and validation[J]. Journal of mechan￾isms and robotics, 2016, 8(2): 021010. [17] 曹燕飞. 变刚度微创介入手术连续体机器人研究 [D]. 南京: 南京航空航天大学, 2019. CAO Yanfei. Research on a variable-stiffness continuum manipulator for minimally invasive surgery[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2019. [18] CAO Yanfei, JU Feng, ZHANG Lei, et al. A novel vari￾able-stiffness flexible manipulator actuated by shape memory alloy for minimally invasive surgery[J]. Proceed￾ings of the institution of mechanical engineers, part H: journal of engineering in medicine, 2018, 232(11): 1098–1110. [19] 赵智远. 线驱动连续型机械臂运动学与运动规划研 究 [D]. 长春: 中国科学院大学 (中国科学院长春光学精 密机械与物理研究所), 2019. [20] ·1066· 智 能 系 统 学 报 第 15 卷