Summary form only given. Continuum robots are biologically-inspired by the invertebrate organisms such as octopus arms and elephant trunks. These robots with a backbone-less structure offer a superior performance in unstructured and cluttered environments such as collapsed buildings, unknown geographical terrain, holes and tunnels. This video features OctArm, a continuum robot that demonstrates its capabilities in whole arm manipulation, biologically-inspired maneuvering, and grasping. The video also depicts a 3D graphical model of OctArm in that can be rendered in real-time in Matlab's real-time workshop.

This paper describes the results of field trials and associated testing of the OctArm series of multi-section continuous backbone "continuum" robots. This novel series of manipulators has recently (Spring 2005) undergone a series of trials including open-air and in-water field tests. Outcomes of the trials, in which the manipulators demonstrated the ability for adaptive and novel manipulation in challenging environments, are described. Implications for the deployment of continuum robots in a variety of applications are discussed

In contrast to traditional robotic manipulators composed of rigid links, a continuum manipulator is a long, continuously flexible extremity that grasps objects usingthe entire length of the trunk. OctArm, a three-section continuum manipulator composed of 9 McKibben actuators, was mounted on tracked mobile platform and teleoperated in a series of field and laboratory experiments. Results from these experiments show its ability to grasp objects of many shapes and sizes, retain a solid hold despite vibration or changes in acceleration, cradle fragile objects reliably, and operate in extreme environments. This robust featureset shows the usefulness and strong potential of these manipulators.

This paper introduces a novel continuum manipulator consisting of two flexible sections connected by rigid base plates. Each section uses 6-8 opposing contracting and extending McKibben actuators to provide two-axis bending. The contracting/extending actuator pairs are sized and positioned to provide matched rotation and torque. The experimental manipulator generates large rotation (30 - 35 degrees per section and 50 degrees for the entire manipulator) and load capacity (25 lb vertical lift) at 60 psi. With a large strength to weight ratio, this manipulator also is highly flexible, simple to manufacture, and is cost-effective.