Algorithm 1.

Determining a Bifurcation-Free Actuation Space

Input: Tube parameters (geometry, material, lengths): p
	Translational actuation: B
	All equilibria: {e1,...,en} ∈ e
Output: Bifurcation: true/false
1	define m sections ← using B,p
2	for k = 1 to m do
3	Φk ← Eq. (25) using p
4	end for
5	for all e do
6	for k = 1 to m do
7	Γk,e ← Eq. (28), (24) using Φk, e
8	end for
9	P ← Eq. (34) using Γ1,e,...,Γm,e.
10	W2 ← Eq. (35) using P, B.
11	if det(W2) ≤ 0 then
12	return true
13	end if
14	end for
15	return false