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Pépite | Contribution à la modélisation cinématique et au contrôle de manipulateurs déformables, fondée sur la mécanique numérique

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Figure

Figure 2.1: Left) A classic industrial manipulator, (Center) A hyper-redundant robot, the meeting ground between a rigid and a continuum manipulator, (Right) A continuum  manipu-lator
Figure 2.4: The KSI hybrid actuated manipulator [Immega 1995]
Figure 2.8: A concentric tube robot or Active Cannula com- com-posed by 3 pre-curved tubes, from [Wu 2017]
Figure 2.9: The Air-Octor hybrid manipulator composed by a pneumatic backbone which is bent by tendons, as presented in [Jones 2004b]
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