综述多根柔性机器人协同技术，揭示其在任务适应性与稳定性上的优势。
Collaborative Continuum Robots: A Survey
- 按分离、辅助、并行三类模式分类协同架构
- 系统总结结构设计、建模、规划与控制进展
- 适合机器人协同与柔性操作研究者参考
连续体机器人（CRs）因其紧凑结构、固有柔顺性和可变形特性，在多个领域得到广泛应用。通过协调多根CR形成协同连续体机器人（CCRs），可进一步提升任务适应性、工作空间、灵活性、承载能力与操作稳定性，具有显著优势。近年来，该新兴领域在连续体机器人社区中关注度持续上升，相关论文数量稳步增长。本文从不同系统架构层面全面回顾近期进展，为CCRs研究提供清晰框架：首先将CCRs分为分离协同、辅助协同和并行协同三种模式，并给出定义；随后系统总结各模式在结构设计、建模、运动规划与控制方面的进展；最后讨论当前挑战与未来机遇。
原文摘要 · Abstract (English)
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task adaptability, workspace, flexibility, load capacity, and operational stability can be further improved, thus offering significant advantages. In recent years, interest in this emerging field has grown steadily within the continuum-robotics community, accompanied by a consistent rise in related publications. By presenting a comprehensive overview of recent progress from different system-architecture levels, this survey provides a clear framework for research on CCRs. First, CCRs are classified into the three collaboration modes of separated collaboration, assistance collaboration, and parallel collaboration, with definitions provided. Next, advances in structural design, modeling, motion planning, and control for each mode are systematically summarized. Finally, current challenges and future opportunities for CCRs are discussed.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。