CPC B25J 9/1625 (2013.01) [B25J 9/0015 (2013.01); B25J 9/065 (2013.01); B25J 9/104 (2013.01)] | 11 Claims |
1. A robotic apparatus comprising:
a continuum robot including a plurality of bending sections including a distal bending section and a proximal bending section wherein each of the bending sections are bent by at least one wire;
a driver that drives the wire;
a controller that controls a driving amount of the wire; and
a base affixed to the continuum robot and capable of moving the continuum robot,
wherein, when the base moves the continuum robot a displacement value, the distal bending section performs a rotational motion, and an angle (ζt) of the rotational motion is greater than 0 degrees, and
the controller controls the proximal bending section so as to follow the distal bending section while preventing the proximal bending section from performing a rotational motion of 360 degrees or more, based on a bending state of the distal bending section at a time when the distal bending section finishes the rotational motion.
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