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The continuum arm provides four joint degrees of freedom through coordinated cable actuation for snake-like bending, while the feeding module enables linear translation along the Z-axis, resulting in a total of five degrees of freedom. A constant-curvature kinematic model is developed, and a real-time inverse kinematics solution based on fifth-order Taylor expansion is proposed. To enhance postural stability, a master\u2013slave teleoperation control framework is implemented that decouples translational motion from orientation control. Leveraging the geometric symmetry of its dual-segment design, the system achieves consistent end-effector orientation by coordinating bending angles and rotation directions between segments. Simulation and experimental results validate the accuracy of the kinematic model and demonstrate the robot\u2019s capability for dexterous, stable movements in confined environments. The proposed continuum robot offers high positioning accuracy, structural adaptability, and strong potential for bioinspired applications in endoscopy and minimally invasive surgical procedures.<\/jats:p>","DOI":"10.3390\/sym17091450","type":"journal-article","created":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T08:08:46Z","timestamp":1756973326000},"page":"1450","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Emulating Snake Locomotion: A Bioinspired Continuum Robot with Decoupled Symmetric Control"],"prefix":"10.3390","volume":"17","author":[{"given":"Lin","family":"Li","sequence":"first","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junqi","family":"Lyu","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youzhi","family":"Xu","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ke","family":"Sun","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shipeng","family":"Tu","sequence":"additional","affiliation":[{"name":"Shenzhen InnerMedical Co., Ltd., 601, Block D, Building 1, Lot 1, Chuangzhi Cloud City, Shenzhen 518000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1905-0564","authenticated-orcid":false,"given":"Aihong","family":"Ji","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China"},{"name":"Jiangsu Key Laboratory of Bionic Materials and Equipment, Nanjing 210016, China"},{"name":"State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0549-6087","authenticated-orcid":false,"given":"Huan","family":"Shen","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaosong","family":"Bai","sequence":"additional","affiliation":[{"name":"Shenzhen InnerMedical Co., Ltd., 601, Block D, Building 1, Lot 1, Chuangzhi Cloud City, Shenzhen 518000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,9,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s11701-006-0002-x","article-title":"Evolution of robotic arms","volume":"1","author":"Moran","year":"2007","journal-title":"J. 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