Analysis and Experiments for Tendril - Type Robots

New models for the Tendril continuous backbone robot, and other similarly constructed robots, are introduced and expanded upon in this thesis. The ability of the application of geometric models to result in more precise control of the Tendril manipulator is evaluated on a Tendril prototype. We examine key issues underlying the design and operation of ―soft‖ robots featuring continuous body (―continuum‖) elements. Inspiration from nature is used to develop new methods of operation for continuum robots. These new methods of operation are tested in experiments to evaluate their effectiveness and potential. iii DEDICATION To my parents and teachers, whom I could not have done this without, and the inspiration of science fiction. iv ACKNOWLEDGMENTS First, I would like to thank Dr. Walker for being a great advisor and always being there when I had a question. I'd also like to thank NASA for the opportunity to work with the Tendril robot. Finally, I would like to thank Matthew Bennink who constructed the Tendril for Clemson University and started its control program.