| 摘要 |
<p>The present invention can realize an operation of a continuum mechanism to avoid a collision between the continuum mechanism and a surrounding obstacle by comprising: a continuum mechanism having an extra degree of freedom and formed as a plurality of joints are connected; and a control unit generating an operation control signal of the continuum mechanism to avoid a collision with an obstacle by utilizing the extra degree of freedom when the collision between the continuum mechanism and the obstacle is expected.</p> |
