Continuum robot, control method of the same, and storage medium

A continuum robot comprising:

• a base unit;
• a distal bending section configured to bend by driving a linear member for the distal bending section;
• a following bending section that is provided between the distal bending section and the base unit, and configured to bend by driving a linear member for the following bending section;
• a driving unit configured to independently drive the linear member for the distal bending section and the linear member for the following bending section;
• a moving unit configured to integrally move the base unit, the distal bending section, and the following bending section forward;
• and
• a control unit,
• wherein the control unit is configured to control, in accordance with a profile of a first bending angle regarding a bending angle of the following bending section that corresponds to a forward movement of the continuum robot, and is set in accordance with an input first target bending angle of the distal bending section, a bending angle of the following bending section to reach the first target bending angle, and
• wherein, in a case where a target bending angle of the distal bending section is changed from the first target bending angle to a second target bending angle before a displacement amount of the forward movement of the continuum robot reaches a first displacement amount that corresponds to a length of the following bending section while controlling the following bending section in accordance with the profile of the first bending angle and after the distal bending section bends at the first target bending angle;
• the control unit is configured to set a profile of a second bending angle that is different from the profile of the first bending angle for the following bending section, and
• the control unit is configured to control the bending angle of the following bending section so that, by a further forward movement of the continuum robot, a bending angle of the following bending section reaches the second target bending angle in accordance with the profile of the second bending angle.