Due to their safe interaction and dexterous movements, continuum robots have potential applications in care, welfare, and search and rescue. However, they often struggle with their limited reach and payload. To address this problem, we focus on woodpeckers, which have an excellent elongated manipulator, or tongue, capable of extending and bending without sagging due to gravity. We propose a novel rod-driven continuum that combines a woodpecker-inspired extension mechanism and convergent rod-path routing. The proposed robot successfully changed the effective length from 0 mm to 600 mm and improved the stiffness up to 12 times.
