Abstract

Continuum robots are a class of continually deformable robots inspired by snakes and tentacles that are commonly used in medical, search and rescue, and exploration applications. The robots are highly nonlinear and difficult to accurately model and control. Precise control of the pose of a continuum robot is typically reliant upon a system model. This work introduces a novel model free control algorithm for continuum robots that only relies upon the robot’s position in task space. The derived controller is built upon the foundation of a preexisting model free sliding mode controller and the q-state parameterized piecewise constant curvature kinematic model for continuum robots. The proposed model is simulated and demonstrated to be viable for hardware implementation. Furthermore, this work introduces the Continuum Robot Analysis and Control Environment (KRAKEN). The KRAKEN is a fully 3D printed and open source continuum robot test stand designed with the intent to make continuum robot research more accessible and standardized. Additionally, preliminary design concepts and hardware implementation of the KRAKEN is showcased as well as a roadmap for future development and testing of the KRAKEN system and model free controller.

Publication Date

8-2026

Document Type

Thesis

Student Type

Graduate

Degree Name

Mechanical Engineering (MS)

Department, Program, or Center

Mechanical Engineering

College

Kate Gleason College of Engineering

Advisor

Kathleen Lamkin-Kennard

Advisor/Committee Member

Agamemnon Crassidis

Advisor/Committee Member

Mohammad Javad Khojasteh

Campus

RIT – Main Campus

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