Continuum robot control methods and apparatus

A robotic apparatus comprising:

• a continuum robot including a plurality of bending sections including a distal bending section and a proximal bending section wherein each of the bending sections are bent by at least one wire;
• a driver that drives the wire;
• a controller that controls a driving amount of the wire;
• and
• a base affixed to the continuum robot and capable of moving the continuum robot,
• wherein, when the base moves the continuum robot a displacement value, the distal bending section performs a rotational motion, and an angle (ζt) of the rotational motion is greater than 0 degrees, and
• the controller controls the proximal bending section so as to follow the distal bending section while preventing the proximal bending section from performing a rotational motion of 360 degrees or more, based on a bending state of the distal bending section at a time when the distal bending section finishes the rotational motion.