Bamdad, M. and Bahri, M.: Kinematics and Manipulability Analysis of a Highly
Articulated Soft Robotic Manipulator, Robotica, 37, 1–15, https://doi.org/10.1017/S0263574718001376, 2019.

Bogue, R.: Snake robots: A review of research, products and applications,
Industrial Robot., 41, 253–258, https://doi.org/10.1108/IR-02-2014-0309, 2014

Chettibi, T.: Smooth point-to-point trajectory planning for robot
manipulators by using radial basis functions, Robotica, 37, 539–559,
https://doi.org/10.1017/S0263574718001169, 2019.

Cui, Z., Tan, X., Hou, S., and Sun, H.: Non-iterative geometric method for
cable-tension optimization of cable-driven parallel robots with 2 redundant
cables, Mechatronics, 59, 49–60, https://doi.org/10.1016/j.mechatronics.2019.03.002, 2019.

Hu, H. and Wang, P.: Kinematic Analysis and Simulation for Cable-driven
Continuum Robot, J. Mech. Eng., 46, 1–8, https://doi.org/10.3901/JME.2010.19.001, 2010.

Hu, J., Sun, Y., Li, G., Jiang, G., Kong, J., and Xiong, H.: Trajectory
planning algorithm and simulation of 6-DOF manipulator, International
Journal of Wireless & Mobile Computing., 14, 138–148, https://doi.org/10.1504/IJWMC.2018.10012249, 2018.

Jiang, G., Zhou, Y., Zhang, F., Wang, C., Yu, T., and Liu, H.: Motion
Decoupling Method for a Single-Port Surgical Robot with Joint Linkage,
Robot., 42, 469–476, https://doi.org/10.13973/j.cnki.robot.190462, 2020.

Lamine, H., Bennour, S., and Romdhanel, L.: Design of cable-driven parallel
manipulators for a specific workspace using interval analysis, Adv.
Robot., 30, 585–594, https://doi.org/10.1080/01691864.2016.1142897, 2016.

Mu, Z., Yuan, H., Xu, W., Liu, T., and Liang, B.: A Segmented Geometry
Method for Kinematics and Configuration Planning of Spatial Hyper-Redundant
Manipulators, IEEE Trans Syst Man Cybern., 50, 1746–1756, https://doi.org/10.1109/TSMC.2017.2784828, 2020.

Peng, J., Xu, W., Yang, T., and Liang, B.: Dynamic modeling and trajectory
tracking control method of segmented linkage cable-driven hyper-redundant
robot, Nonlinear Dynam., 101, 233–253, https://doi.org/10.1007/s11071-020-05764-7, 2020.

Riva, E., Taghavi, M., and Bock, T.: Dynamic analysis of high precision
construction cable-driven parallel robots, Mech. Mach. Theory,
135, 54–64, https://doi.org/10.1016/j.mechmachtheory.2019.01.023, 2019.

Wang, F., Dong, L., Zhou, X., Liao, X., and Automation, SO.: Design and
Control of a Snake Arm Robot, Robot., 39, 272–281, https://doi.org/10.13973/j.cnki.robot.2017.0272, 2017.

Xu, D., Li, E., and Liang, Z.: Design and Tension Modeling of a Novel
Cable-Driven Rigid Snake-Like Manipulator, J. Intell. Robot. Syst., 99,
211–238, https://doi.org/10.1007/s10846-019-01115-w, 2020.

Xu, W., Mu, Z., Liu, T., and Liang, B.: A modified modal method for solving
the mission-oriented inverse kinematics of hyper-redundant space
manipulators for on-orbit servicing, Acta Astronaut., 139, 54–66,
https://doi.org/10.1016/j.actaastro.2017.06.015, 2017.

Yu, R., Fang, Y., and Guo, S.: Design and Kinematic Performance Analysis of
a Cable-Driven Parallel Mechanismfor Ankle Rehabilitation, Robot., 37,
53–62, https://doi.org/10.13973/j.cnki.robot.2015.0053, 2015.

Yuan, H. and Li, Z.: Workspace analysis of cable-driven continuum
manipulators based on static model, Robot. CIM-Int. Manuf., 49, 240–252, https://doi.org/10.1016/j.rcim.2017.07.002, 2017.

Zaplana, I. and Basanez, L.: A novel closed-form solution for the inverse
kinematics of redundant manipulators through workspace analysis, Mech. Mach.
Theory., 121, 829–843, https://doi.org/10.1016/j.mechmachtheory.2017.12.005, 2018.

Zhang, X., Zheng, Z., and Qi, Y.: Parameter Identification and Calibration of
D-H Model for 6-DOF Serial Robots, Robot., 38, 360–370, https://doi.org/10.13973/j.cnki.robot.2016.0360, 2016.

Zhou, Y., Luo, J., and Wang, M.: Dynamic coupling analysis of multi-arm
space robot, Acta Astronaut., 160, 583–593, https://doi.org/10.1016/j.actaastro.2019.02.017, 2019.