Continuum robots differ fundamentally from traditional robots, as they are jointless structures. Their appearance is evocative of animals and organs such as trunks, tongues, worms, and snakes. Composed of flexible, elastic, or soft materials, continuum robots can perform complex bending motions and appear with curvilinear shapes. Continuum robots have a high potential to navigate and operate in confined spaces currently unreachable to standard robots, as their diameter to length ratio can be as low as 1:300. Typical applications are in minimally invasive surgery or in maintenance, repair and operation. This introductory course covers the fundamentals of continuum robot design, modelling, planning, and control. Students will code their own continuum robot simulator.