Importance

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Abstract

A continuum robot includes a forward and backward movement unit configured to cause a plurality of bendable portions to perform forward movement or backward movement in a lengthwise direction, an attitude change unit configured to cause each of the bendable portions to bend to change an attitude, an attitude memory configured to store the attitude with regard to each of the bendable portions, and a control switching unit configured to perform, when the forward movement or the backward movement is detected, in a case where an attitude of at least one bendable portion deviates to a predetermined extent or beyond from an attitude of the at least one bendable portion which is stored in the attitude memory, switching as change control of the attitude for the attitude change unit from position control for changing the attitude into a specified attitude to control for changing the attitude following an external force.

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First Claim