[1] Trivedi D, Rahn C D. Shape sensing for soft robotic manipulators// Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. San Diego:ASME,2009.
[2] Haman M W, Walker I D. Kinematics and the implementation of an elephant's trunk manipulator and other continuum Style Robots. Journal of Robotic Systems, 2003, 20(2): 45-63.
[3] Dupont P E, Lock J.Design and control of concentric-tube robots. IEEE Transactions on Robotics, 2010,26( 2):209-225.
[4] Lock J, Laing G. Quasi static modeling of concentric tube robots with external Loads//The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei:IEEE, 2010:2325-2332 .
[5] Yoon H S, Yi B J. A 4-DOF flexible continuum robot using a spring backbone//Proceedings of The IEEE International Conference on Mechatronics and Automation 2009:1249-1254.
[6] Georgilas IP,V D. Tourassis. ERMIS- a novel biologically inspired flexible robotic mechanism for industrial applications//2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Singapore:IEEE ,2009:1504-1509.
[7] 赵铁石,林永光,缪磊,等. 一种基于空间连杆机构的蛇形机器人. 机器人, 2006, 28(6):629-635.
[9] Hu H Y, Wang PF, Zhao B, et al. Design of a novel snake-like robotic colonscope// Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics. Guilin:IEEE 2009:1957-1961.
[9] 何俊虎. 一种基于空间连杆机构的蛇形机器人[D].北京:北京航空航天大学, 2012.