Fig. 1
From: Development of a continuum robot enhanced with distributed sensors for search and rescue
Schematic of the three design principles of sensor-integration system. (1) Sensors are daisy-chained to accommodate multiple sensors. (2) To facilitate maintenance, the sensors are easily interchangeable, and to facilitate the expandability of its functions, the robot is composed of modules, each approximately 1.6 m in length. (3) To enable modular development of the system, we use ROS to modularize the program