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We present a novel general model that unifies the kinematics of constantcurvature and constant twist continuum manipulators. Combining this kinematicswith energy-based physics, we derive a linear mapping from actuatorconfiguration to manipulator deformation that is analogous to traditional robotforward kinematics. Our model generalizes across manipulators with differentsizes, types of bending, and types of actuators, without the need for parameterre-fitting. The combination of generality and linearity makes the model usefulfor control and planning algorithms. Finally, our model is shown to be accuratethrough experimental validation on manipulators with pneumatic artificialmuscles.

Linear Kinematics for General Constant Curvature and Torsion Manipulators