@article {878131,
	title = {Continuum robots-a state of the art},
	journal = {Robotics and Automation},
	year = {1999},
	abstract = {Like the human limbs which inspired them most robots are discrete mechanisms with rigid links connected by single degree of freedom joints. In contrast, {\textquoteright}continuum{\textquoteright} and {\textquoteright}serpentine{\textquoteright} robot mechanisms move by bending through a series of continuous arcs producing motion which resembles that of biological tentacles or snakes. This paper provides a single reference to the expanding technology of continuum robot mechanisms. It defines the fundamental difference between discrete, serpentine and continuum robot devices, presents the {\textquoteright}state of the art{\textquoteright} of continuum robots, outlines their areas of application, and introduces some control issues. Finally, some conclusions regarding the continued development of these devices are made.},
	url = {http://ieeexplore.ieee.org/document/774029/},
	author = {Robinson, G. and J. Bruce C. Davies}
}
