Figure 6From: Learning by imitation with the STIFF-FLOP surgical robot: a biomimetic approach inspired by octopus movements Model of the STIFF-FLOP robot. (Left) Single module of a constant curvature model at rest position with the rest length L 0, (center) with the pose of the tip described as a function of α, β, and L. (Right) STIFF-FLOP robot with two modules.Back to article page