How It Works: Continuum Robotics


“Head and Tail” Movements

While standard robots rely on jointed articulation and stiff links, continuum robots move through continuous "flow" rather than fixed joints. These jointless structures typically use a flexible central backbone, often a high-tech material like Nitinol, supported by external spacer disks that guide actuation tendons.

After experimenting with different materials, I found that using clear PVC tubing as the central backbone, reinforced by external compression springs and 3D-printed spacer disks, was the easiest way to achieve thefluid, organic and organism-like movement I was looking for.

Movement exploring continuum robotics


Working prototype of the "upper body" movement
Here's how it works: four fishing lines (the actuation tendons) run outside the tubing, threaded through holes in the spacer disks and spaced 90 degrees apart in a circle. At rest, all four are held under tension. To bend the backbone, one line is pulled while the opposite line is released, drawing the central spine to one side.

Each line is tied to a spool on a servo motor. As the motor rotates, the spool winds or releases the line, creating the fluid, organic movement.





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