Date of Award


Document Type


Degree Name

Master of Science (MS)

Legacy Department

Computer Engineering


Walker, Ian

Committee Member

Dawson , Darren

Committee Member

Birchfield , Stan


New models for the Tendril continuous backbone robot, and other similarly constructed robots, are introduced and expanded upon in this thesis. The ability of the application of geometric models to result in more precise control of the Tendril manipulator is evaluated on a Tendril prototype. We examine key issues underlying the design and operation of 'soft' robots featuring continuous body ('continuum') elements. Inspiration from nature is used to develop new methods of operation for continuum robots. These new methods of operation are tested in experiments to evaluate their effectiveness and potential.

Included in

Robotics Commons