Algorithm 1 Configuration for the Second Flexible Segment
1:	Input: Desired position $p_d$, current configuration $q_{2,k}$, tolerance $\lambda$, step size $\alpha$, maximum iteration K.
2:	Output: Configuration parameter $q_c^{\left(2\right)}\in {\mathbb{R}}^2$ for the second flexible segment.
3:	Calculate current tip position: $p_2=f_{w,c}\left(q_{2,k}\right)$.
4:	Calculate current error: $e=p_d-p_2$.
5:	Initialization $k\leftarrow 0$.
6:	while $\parallel e\parallel >\lambda$ and $k<K$ do
7:	Calculate local Jacobian matrix $J_2$.
8:	Calculate new $q_{2,k}$ by (16).
9:	Update $p_2$ and e.
10:	$k\leftarrow k+1$.
11:	end while
12:	Set $q_c^{\left(2\right)}=q_{2,k}$.