Description:PREAMBLE TO THE DESCRIPTION The following specification particularly describes the invention and the manner in which it is to be performed. FIELD OF INVENTION The present disclosure generally relates to a robotic arm, and more particularly relates to a retractable hyper-redundant robotic arm on platform for tasks requiring adaptable extension and method thereof BACKGROUND Generally, Unmanned Aerial Vehicles (UAVs), commonly referred to as drones, have evolved significantly to support a wide array of applications across military, civil, and commercial sectors. The UAV applications include, but are not limited to, surveillance, delivery, environmental monitoring, and infrastructure inspection. The aerial platforms are typically equipped with onboard payloads such as cameras, sensors, and delivery mechanisms, which enable remote observation and limited object interaction. However, conventional UAV configurations remain constrained by physical design parameters, including limited size, payload capacity, and structural reach. The limitations restrict the ability of UAVs to perform operations requiring direct physical engagement with objects or surfaces beyond their immediate physical boundaries. While some UAVs incorporate rigid-link robotic arms, such configurations are often insufficient to navigate or operate effectively in confined, irregular, or dynamically changing environments. Existing aerial manipulation systems that utilize serial or parallel robotic arms suffer from inherent drawbacks related to limited reachability, reduced manoeuvrability, and instability during operation. In particular, such aerial manipulation systems often require the UAV to position itself in close proximity to the target object, which may not be feasible in environments characterized by spatial constraints, obstacles, or hazardous conditions. Additionally, deployment of conventional robotic manipulators often compromises flight stability and control responsiveness, thereby diminishing overall system effectiveness. FIG. 1A illustrates an exemplary schematic representation 100A of a continuum robotics, according to a prior art. Part (a) of the FIG. 1A discloses a bioinspired structure such as snakes, tentacles, and trunks. The bioinspired structure utilizes a series of interconnected, flexible segments actuated by tendons, motors, or pneumatic mechanisms. The biomimetic morphology enables smooth curvature, high dexterity, and a broad range of motion, allowing such robots to navigate through confined and cluttered environments with greater adaptability than conventional rigid-link robots. Part (b) and parts (c) of the FIG. 1A discloses a tendon-driven continuum robot and snake-arm robots that are used in implementations of the continuum robots deployed in industrial settings and constrained pathways. The continuum robot is useful for inspection and handling tasks around obstacles due to flexible structures allow smooth and accurate movement. Part (d) of FIG. 1A represent the continuum robot with flexure hinges that achieves flexibility through built-in elastic joints, enabling precise bending and movement without using tendons or cables. FIG. 1B illustrates an exemplary schematic representation 100B of various classifications of continuum robots, according to a prior art. Part (a) of FIG. 1B illustrate a concentric tube continuum robot, where multiple pre-curved tubes (inner, middle, and outer) are nested concentrically and actuated through independent rotation and translation, enabling precise bending. The Part (a) of FIG. 1B illustrate the actual tube arrangement and joint interaction. However, the concentric tube continuum robot lack compliance due to their inherent stiffness and not suitable for handling any significant payload, as the slender, flexible tubes are primarily designed for positioning rather than load-bearing. Part (b) of FIG. 1B illustrates a rod-driven continuum robot made of stacked vertebrae connected via rods, where motion is generated by pushing or pulling the rods. The physical setup includes the base, rods, and articulated tip. However, it requires high actuation force due to friction and resistance, limiting energy efficiency. Part (c) of FIG. 1B illustrates a fluid muscle continuum robot with intrinsic pneumatic actuation. However, the fluid muscle continuum robot is not flexible enough for complex motion, and their performance is limited by low force output and dependence on external air supply. Part (d) of FIG.1B illustrates a tendon-driven continuum robot with an extrinsic actuation. The tendon-driven continuum robot with flexible backbone and vertebrae, actuated by tensioning tendons routed along the structure. However, the tendon-driven continuum robot face challenges related to tendon routing complexity, friction losses, slack management, and long-term wear, all of which degrade motion accuracy and reliability. FIG. 1C illustrates an exemplary schematic representation a spring mass damper system. The spring mass damper system includes two masses m1 and m2, connected via springs k1, k2 and dampers c1, c2, respectively. The displacement of each mass is represented by x1 and x2, and the base displacement is denoted by x0. Existing continuum robotic systems suffer from high actuation force requirements, increasing motor size and overall system weight that is unsuitable for the aerial manipulation. Further, fixed length and limited flexibility restrict adaptation to various shapes. Backbone extension and retraction introduce mechanical complexity, raising fabrication and maintenance challenges. Control is difficult due to the need for coordinated bending and extension, with risks of buckling and reduced load capacity. Repeated motion causes wear, while advanced mechanical modelling methods often impose high computational load, hindering real-time embedded control. Consequently, there is a need for an improved, efficient, and reliable retractable continuum or high degree of freedom-based robotic arm mounted on a platform, configured for tasks requiring adaptable extension and capable of performing precise manipulation operations while maintaining control and flight stability. SUMMARY This section is provided to introduce certain objects and aspects of the present disclosure in a simplified form that are further described below in the detailed description. This summary is not intended to identify the key features or the scope of the claimed subject matter. In an aspect, the present disclosure relates to a retractable hyper-redundant robotic arm, similar to a continuum or snake robot, on a platform for tasks requiring adaptable extension. Further, the retractable hyper-redundant robotic arm includes a plurality of interconnected segments. Each segment includes an 204which involves a plurality of piston-cylinder assembly interconnected via a plurality of universal joint configured for multi-axis articulation. Furthermore, the piston-cylinder assembly includes a casing, a conical spring, a piston rod, and a piston disk. In addition, the piston disk is connected to a through-disk platform configured for at least one of a tool attachment and a secondary assembly. Further, the plurality of universal joint between adjacent segments of the plurality of interconnected segments, configured to manage multi-axis rotational articulation with minimal actuation force. Furthermore, a base mounted on a platform, supporting a plurality of actuators arranged in a configuration, each actuator of the plurality of actuators operatively connected to each of a plurality of tendons tendon via a pulley. Furthermore, the plurality of tendons routed through holes in the through-disk platform of each segment, and extending longitudinally along the plurality of segments, configured to transmit actuation forces for controlling the plurality of interconnected segments associated with a retractable hyper-redundant robotic arm. In addition, an image capturing unit mounted at a distal end of the retractable hyper-redundant robotic arm via an attachment, configured for inspection or tracking applications. In another aspect, the present disclosure relates to a method for controlling a retractable hyper-redundant robotic arm mounted on a platform for tasks requiring adaptable extension. Further, the method includes configuring a plurality of interconnected segments, each segment comprising an extension and retraction assembly with a plurality of piston-cylinder assemblies interconnected via a plurality of universal joints configured for multi-axis articulation. Furthermore, each piston-cylinder assembly includes a casing, a conical spring, a piston rod, and a piston disk connected to a through-disk platform. In addition, actuating a plurality of actuators mounted on a base platform, each actuator operatively connected to a plurality of tendons via a pulley mechanism. Further, routing the plurality of tendons through holes in the through-disk platform of each segment, extending longitudinally along the plurality of segments to transmit actuation forces. Furthermore, controlling multi-axis rotational articulation of the plurality of interconnected segments using the plurality of universal joints with minimal actuation force. In addition, capturing images using an image capturing unit mounted at a distal end of the retractable hyper-redundant robotic arm for inspection or tracking applications. To further clarify the advantages and features of the present disclosure, a more particular description of the disclosure will follow by reference to specific embodiments thereof, which are illustrated in the appended figures. It is to be appreciated that these figures depict only typical embodiments of the disclosure and are therefore not to be considered limiting in scope. The disclosure will be described and explained with additional specificity and detail with the appended figures. BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS The accompanying drawings, which are incorporated herein, and constitute a part of this invention, illustrate exemplary embodiments of the disclosed methods and systems in which like reference numerals refer to the same parts throughout the different drawings. Components in the drawings are not necessarily to scale; emphasis instead being placed upon clearly illustrating the principles of the present invention. Some drawings may indicate the components using block diagrams and may not represent the internal circuitry of each component. It will be appreciated by those skilled in the art that invention of such drawings includes the invention of electrical components, electronic components or circuitry commonly used to implement such components. FIG. 1A illustrates an exemplary schematic representation 100A of a Continuum Robotics, according to a prior art. FIG. 1B illustrates an exemplary schematic representation 100B of various classifications of continuum robots, according to a prior art. FIG. 1C illustrates an exemplary schematic representation a spring mass damper system, according to a prior art. FIG.2 is a illustrates an exemplary block diagram representation a retractable hyper-redundant robotic arm, according to an example; FIG.3A illustrates an exemplary schematic representation of the retractable hyper-redundant robotic arm, according to an example; FIG.3B illustrates an exemplary schematic representation of the retractable hyper-redundant robotic arm in an extended state, according to an example; FIG.3C is illustrates an exemplary schematic representation of an electronic unit, according to an example; FIG.3D illustrates an exemplary schematic representation of a DC motor mount, according to an example; FIG. 4 illustrates an exemplary exploded view of an extendable and retractable segment and a piston-cylinder assembly of the retractable hyper-redundant robotic arm, according to an example; FIG. 5 illustrates an exemplary schematic representation of universal joints, according to an example; FIG. 6 illustrates an exemplary schematic representation of an arrangement of key components in the retractable hyper-redundant robotic arm, according to an example; FIG.7 illustrates an exemplary schematic representation of the through-disk platform, according to an example; FIG.8 illustrates an exemplary various view of a cylindrical casing along with dimension, according to an example; FIG.9 illustrates an exemplary various view of a piston rod along with the dimensions, according to an example; FIG.10 illustrates an exemplary various view of the universal joints along with the dimensions, according to an example; FIG.11 illustrates an exemplary schematic representation a spring-mass and a two-link manipulator system of the segments of the hyper-redundant robotic arm, according to an example; FIG.12A illustrates an exemplary schematic representation of four configurations of the retractable hyper-redundant robotic arm, according to an example; FIG.12B illustrates an exemplary schematic representation of an alternative hyper-redundant robotic arm configurations, according to an example; FIG.13 illustrates an exemplary schematic representation of a multi-rotor UAV equipped with the articulated arm, according to an example; FIG.14 illustrates an exemplary schematic representation various view of control unit and universal joints, according to an example; FIG.15 illustrates an exemplary schematic representation prototype of the hyper-redundant robotic arm, according to an example; FIG.16 illustrates an exemplary schematic representation of a hardware configuration of hyper-redundant robotic arm, according to an example; FIG.17 illustrates an exemplary schematic representation of a simulation of contraction behaviour and a torque balance model, according to an example; and FIG.18 illustrates an exemplary flowchart of a method for controlling a retractable hyper-redundant robotic arm, according to an example. The foregoing shall be more apparent from the following more detailed description of the disclosure. DETAILED DESCRIPTION In the following description, for the purposes of explanation, various specific details are set forth in order to provide a thorough understanding of embodiments of the present disclosure. It will be apparent, however, that embodiments of the present disclosure may be practiced without these specific details. Several features described hereafter can each be used independently of one another or with any combination of other features. An individual feature may not address all of the problems discussed above or might address only some of the problems discussed above. Some of the problems discussed above might not be fully addressed by any of the features described herein. The ensuing description provides exemplary embodiments only, and is not intended to limit the scope, applicability, or configuration of the disclosure. Rather, the ensuing description of the exemplary embodiments will provide those skilled in the art with an enabling description for implementing an exemplary embodiment. It should be understood that various changes may be made in the function and arrangement of elements without departing from the spirit and scope of the invention as set forth. Specific details are given in the following description to provide a thorough understanding of the embodiments. However, it will be understood by one of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits, systems, networks, processes, and other components may be shown as components in block diagram form in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, processes, algorithms, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the embodiments. Also, it is noted that individual embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be re-arranged. A process is terminated when its operations are completed but could have additional steps not included in a figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, its termination can correspond to a return of the function to the calling function or the main function. The word “exemplary” and/or “demonstrative” is used herein to mean serving as an example, instance, or illustration. For the avoidance of doubt, the subject matter disclosed herein is not limited by such examples. In addition, any aspect or design described herein as “exemplary” and/or “demonstrative” is not necessarily to be construed as preferred or advantageous over other aspects or designs, nor is it meant to preclude equivalent exemplary structures and techniques known to those of ordinary skill in the art. Furthermore, to the extent that the terms “include”,” “has,” “contains,” and other similar words are used in either the detailed description or the claims, such terms are intended to be inclusive—in a manner similar to the term “comprising” as an open transition word—without precluding any additional or other elements. Reference throughout this specification to “one embodiment” or “an embodiment” or “an instance” or “one instance” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. Examples of the present disclosure provides a retractable hyper-redundant robotic arm on a platform for tasks requiring adaptable extension. Further, the retractable hyper-redundant robotic arm includes a plurality of interconnected segments. Each segment includes an extension and retraction assembly which involves a plurality of piston-cylinder assembly interconnected via a plurality of universal joint configured for multi-axis articulation. Furthermore, the piston-cylinder assembly includes a casing, a conical spring, a piston rod, and a piston disk. In addition, the piston disk is connected to a through-disk platform configured for at least one of a tool attachment and a secondary assembly. Further, the plurality of universal joint between adjacent segments of the plurality of interconnected segments, configured to manage multi-axis rotational articulation with minimal actuation force. Furthermore, a base mounted on a platform, supporting a plurality of actuators arranged in a configuration, each actuator of the plurality of actuators operatively connected to each of a plurality of tendons tendon via a pulley. Furthermore, the plurality of tendons routed through holes in the through-disk platform of each segment, and extending longitudinally along the plurality of segments, configured to transmit actuation forces for controlling the plurality of interconnected segments associated with a retractable hyper-redundant robotic arm. In addition, an image capturing unit mounted at a distal end of the retractable hyper-redundant robotic arm via an attachment, configured for inspection or tracking applications. Referring now to the drawings, and more particularly to FIGs. 1 through FIG. 18, where similar reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments and these embodiments are described in the context of the following exemplary system and/or method. FIG.2 is a illustrates an exemplary block diagram representation a retractable hyper-redundant robotic arm 200, according to an example. Further, the retractable hyper-redundant robotic arm 200 may include a processor, and a memory coupled to the processor (not shown in FIG. 2). Furthermore, the memory may include a processor-executable instructions, which on execution, cause the processor to perform one or more operations described herein. The retractable hyper-redundant robotic arm 200 includes an extension and retraction assembly 202, a piston-cylinder assembly 204, an image capturing unit 206, a universal joint 208, tendons and actuators 212. Further, a plurality of interconnected segments may include the extension and retraction assembly 202. Further, the extension and retraction assembly 202 includes a plurality of the piston-cylinder assembly 204 interconnected via the plurality of universal joint 208 configured for multi-axis articulation. Furthermore, the piston-cylinder assembly 204 includes a casing, a conical spring, a piston rod, and a piston disk. In addition, the piston disk is connected to a through-disk platform configured for at least one of a tool attachment and a secondary assembly. Furthermore, the plurality of interconnected segments may include the plurality of universal joint 208 (the term ‘universal joint’ may individually refer as ‘universal joints’) between adjacent segments of the plurality of interconnected segments, configured to manage multi-axis rotational articulation with minimal actuation force. In addition, the plurality of interconnected segment includes a base mounted on the platform, supporting a plurality of actuators 212 (the term ‘actuators may individually refer ‘plurality of actuators’) arranged in a configuration. Further, actuator of the plurality of actuators 212 operatively connected to each of the plurality of tendons tendon via a pulley. Further, the plurality of tendons routed through holes in the through-disk platform of each segment, and extending longitudinally along the plurality of segments, configured to transmit actuation forces for controlling the plurality of interconnected segments associated with the retractable hyper-redundant robotic arm 200. Furthermore, the plurality of tendons routed through holes in the through-disk platform of each segment, and extending longitudinally along the plurality of segments, configured to transmit actuation forces for controlling the plurality of interconnected segments associated with the retractable hyper-redundant robotic arm 200. In an exemplary embodiment, the extension and retraction assembly 202 may include a housing enclosing a conical spring configured to compress axially upon receiving a collective tendon force exceeding a calibrated stiffness threshold. The piston mechanism within the extension and retraction assembly 202 enables controlled linear displacement of each segment, enabling arm extension and retraction. The spring stiffness (e.g., 0.7516 N/mm) ensures retraction only under simultaneous actuation of all four tendons associated with a given segment. In an exemplary embodiment, the piston-cylinder assembly 204 includes a piston rod connected to a piston disk, enclosed within a cylindrical casing. The configuration translates tendon force into axial movement. The piston interacts with the conical spring to achieve compression when in a Mode 2 operation (multi-tendon actuation), allowing the segment to retract. The housing provides structural alignment and enables coupling with the adjacent universal joint 208. In an exemplary embodiment, the image capturing unit 206 includes a Camera or equivalent optical sensor, is mounted at the distal end of the arm. The image capturing unit 206 is operatively coupled via a mounting bracket and configured for real-time visual inspection, target tracking (e.g., hostile drones, birds, infrastructure), and feedback for autonomous or semi-autonomous navigation. The camera transmits image data to an onboard or remote processing system. In an exemplary embodiment, the universal joints 208 may configured to maintain alignment along the actuation axes of the tendons, thus preventing uncontrolled diagonal movements and preserving stability during both rotational and linear operations. The universal joints 208 allow orientation change without compressing the spring, crucial for a Mode 1 operation (single-tendon actuation). Further, the universal joint 208 disposed between adjacent arm segments, the universal joint 208 enables smooth relative orientation between segments with minimal actuation force. Furthermore, the conical spring is configured with a predetermined stiffness to compress only when a threshold force exerted collectively by a plurality of tendons, is exceeded. In an exemplary embodiment, the retractable hyper-redundant robotic arm (200) includes a motor mount operatively coupled to the robotic arm assembly. Further, an electronic unit electrically coupled to a motor mount configured to control and coordinate the motion of the robotic arm assembly by actuating the motor mount. Further, the retractable hyper-redundant robotic arm 200 includes the plurality of tendons extending between the motor mount and the robotic arm assembly. The retractable hyper-redundant robotic arm 200 includes the plurality of tendons being selectively tensioned and relaxed under the control of the electronic unit enables multiple operational modes of the robotic arm assembly for extension, retraction, and directional orientation. Further. the plurality of tendons in the retractable hyper-redundant robotic arm 200 triggers the transition between operational modes of the robotic arm assembly (206) based on a predetermined force threshold. In an exemplary embodiment, a scenario when a single tendon is tensioned, the corresponding DC motor responsible for that tendon is activated. This activation is electrically controlled by the electronic control unit 302A ,which transmit a command signal, typically a PWM (Pulse Width Modulation) signal, to a motor driver circuit. The motor driver then delivers the requisite current and voltage to the DC motor causing the DC motor to rotate. Further, rotation of the a the DC motor winds the tendon around a pulley mounted on DC motor’s shaft. The winding action creates tensile force along the tendon, pulling its taut. As only one tendon is tensioned, the resultant force imbalance causes the hyper-redundant robotic arm 200 to bend/orient toward the side of the activated motor. Further, the degree of bending depends on the extent of tendon retraction. In an exemplary embodiment, when plurality of tendons are tensioned simultaneously, each of the four corresponding DC motors is activated in coordinated manner. The electronic control unit 302A transmits individual control signals to each respective motor driver circuit, allowing for either equal or differential tension t across the tendons. When all four or plurality of tendons are pulled with equal force and retraction, the resultant vector sum of forces achieves equilibrium thereby a uniform stiffening of the robotic arm without significant bending in any particular direction. Conversely, when the tendons are tensioned unequal force or intentionally applying varying retraction distances, the hyper-redundant robotic arm 200 may bend in the direction of the resultant force vector determined by the relative magnitudes of the applied tensile or pulling forces thereby the present approach enables precise control of the bending orientation and curvature of the hyper-redundant robotic arm 200. In an exemplary embodiment, when a single tendon is actuated via the corresponding DC motor, the hyper-redundant robotic arm 200 bends directionally toward the location of corresponding DC motor. The bending behaviour is not random however governed by the placement of the tendons around the circumference of the hyper-redundant robotic arm 200. In an exemplary embodiment. utilizing a symmetric configuration including four tendons placed at 90° intervals), each tendon corresponds to a unique directional orientation. Activation of a single tendon results in the hyper-redundant robotic arm 200 bending in the corresponding direction due to the localized increase in tensile force. Thus, the system configured to allows for four primary bending orientations, each aligned with a respective tendon-motor pair. Furthermore, combinations of tendon activations are configured to enable intermediate directions and complex curvatures through vector summation of the individual tendon forces. In an exemplary embodiment, the retractable hyper-redundant robotic arm 200 includes the plurality of piston-cylinder assembly. Further plurality of piston-cylinder assembly 204 a cylindrical casing encapsulating a customized conical spring operatively connected to the front end of a piston rod with a piston head. Furthermore, the piston head connected to a piston disk serving as cross-sectional attachment to interface with the customized conical spring 404 within the cylindrical casing. Further, the piston rod on rear end connected to a through-disk platform formed with plurality of holes on the surface. In addition, the through-disk platform receives one or more functional component and attaches to the adjacent cylindrical casing of the plurality of piston-cylinder assembly. Further, the piston rod configured to a linear motion, transmits the mechanical force between the customized conical spring for actuation. In an exemplary embodiment, the plurality of universal joints 206 includes a central coupling block with a first pin and a second pin disposed on perpendicular axes. Further, a first bracket and a second bracket placed on opposing sides of the central coupling block. Furthermore, the first bracket rotatably attached to the first pin and the second bracket rotatably attached to the second pin. In addition, the first pin and the second pin, enables rotation of the first bracket and the second bracket about two perpendicular planes relative to the central coupling block. In an exemplary embodiment, the retractable hyper-redundant robotic arm 200 incorporates the plurality of tendons 210 (e.g., four per segment), routed through pre-drilled holes in each disk platform of the segments. The tendons are made from flexible, non-compressive strings and are operatively attached to the distal tip of the arm. Pulling on one or more tendons induces segment articulation or retraction, based on the actuation pattern. The tendons transmit force from actuators to the arm structure and control its shape in three-dimensional space. Further, in the single-tendon actuation mode, the manipulator behaves like a serial-link arm and in simultaneous four-tendon actuation, the segment retracts axially. In an exemplary embodiment, the plurality of tendons includes fishing lines having a diameter of 0.5 mm and a breaking strength of 34.6 kg. The off-the-shelf material provides high tensile strength and flexibility, making it suitable for use in the tendon-driven robotic arm assembly. In an exemplary embodiment, the plurality of tendon 210 210 (the term ‘tendon’ may individually refer ‘plurality of tendons’) is driven by the corresponding actuator 212, may be mounted at the base of the retractable hyper-redundant robotic arm 200. The actuators 212 are connected to a pulley system, enabling torque transmission to the tendon. The actuators 212 receive control signals from a microcontroller (e.g., Arduino UNO) which interprets switching logic from a remote unit (e.g., Arduino Nano). In an exemplary embodiment, the DC motor mount includes the plurality of actuators mounted on a base platform of a square configuration, through a corresponding set of attachment components. Further, a plurality of pulley mechanism attached to each of the corresponding plurality of actuators. Furthermore, the plurality of tendons, operatively coupled to the corresponding plurality of pulley mechanism. In addition, the plurality of tendons being flexible, non-tensile, non-compressible and selectively tensioned and relaxed to achieve a desired orientation of a robotic arm assembly. Further, the plurality of pulley mechanism, mounted on corresponding plurality of actuators drive the plurality of tendons for motion control. Further, the plurality of actuators selectively rotates the plurality of pulley mechanism to modulate the tension of the plurality of tendons, enabling controlled three-dimensional orientation of the robotic arm assembly. In an exemplary embodiment, the conical spring in each segment is configured with a predetermined stiffness to compress when a collective tensile force exerted by the plurality of tendons exceeds a threshold, for adjustment of a length and an orientation of the retractable hyper-redundant robotic arm (200) with minimal actuation force. Further, the conical spring includes a coil formed with tapered geometry of progressively varying diameter along the length. In an exemplary embodiment, the plurality of universal joint provides motion exclusively along four primary directions aligned with two orthogonal planar directions relative to the preceding plurality of piston-cylinder assembly. Further, the plurality of universal joint (206) supports the extension and retraction of the robotic arm assembly during non-linear configurations, to adapt and extend to various shaped configurations. Furthermore, the plurality of universal joint configured to enable rotation of a corresponding plurality of piston-cylinder assembly, mechanically isolates the customized conical spring from axial compression during the rotation. In an exemplary embodiment the hyper-redundant robotic arm 200 is also referred to as a snake arm or continuum arm, specifically configured for integration with the UAVs, more particularly multi-rotor drones. The hyper-redundant robotic arm 200 is adapted to perform dynamic extension, retraction, and continuous deformation, thereby enabling real-time adjustment of shape and length beyond the physical envelope of the hosting UAV. In an exemplary embodiment, the plurality of tendon operates through a first mode for total tendon force acting upon the robotic arm assembly below, the predetermined force threshold. Further, the plurality of tendon operates through a second mode for total tendon force acting upon the robotic arm assembly equal to and exceeding the predetermined force threshold. The plurality of tendons operating through the first mode, tightens a single tendon amongst the plurality of tendons inducing a rotational motion about the robotic arm assembly. Further, the plurality of tendons operating through the second mode, tightens all the plurality of tendons inducing axial compression and linear retraction of the robotic arm assembly. In an exemplary embodiment, upon application of tension to the single tendon, the corresponding DC motor operatively coupled thereto is actuated. The actuation is electronically controlled by the electronic control unit 302A, which generates and transmits a command signal, preferably the Pulse Width Modulation (PWM) signal, to a motor driver circuit. The motor driver circuit supplies the requisite current and voltage to the DC motor, causing the motor to rotate. Rotation of the DC motor winds the tendon around a pulley affixed to the motor's shaft, thereby generating tensile force along the tendon and effecting its tautness. As only one tendon is tensioned, the resultant force imbalance induces deflection of the hyper-redundant robotic arm 200 toward the side associated with the actuated motor, with the degree of deflection being proportional to the extent of tendon retraction. In an exemplary embodiment, when plurality of tendons 210 are simultaneously subjected to tension, each of the four corresponding DC motors is actuated in a coordinated manner. The electronic control unit 302A transmits distinct control signals, preferably the PWM signals, to each respective motor driver circuit, enabling the application of either uniform or differential tension across the tendons. When all four tendons are tensioned with equal force and retraction, the resultant vector sum of forces achieves equilibrium, thereby inducing uniform stiffening of the robotic arm without substantial deflection in any specific direction. Conversely, when the tendons are tensioned with unequal forces or varying retraction distances, the hyper-redundant robotic arm 200 deflects in the direction dictated by the resultant force vector, as determined by the relative magnitudes of the applied tensile forces, thereby providing precise control over the orientation and curvature of the hyper-redundant robotic arm 200 deflection. In an exemplary embodiment, actuation of a single tendon by its operatively coupled DC motor induces directional deflection of the hyper-redundant robotic arm 200 toward the spatial location of the actuated motor. The bending behaviour is determined by the circumferential arrangement of the tendons around the hyper-redundant robotic arm 200. In a symmetric configuration comprising four tendons positioned at 90-degree intervals, each tendon corresponds to a distinct directional orientation. Actuation of a single tendon generates a localized increase in tensile force, causing the hyper-redundant robotic arm 200 to deflect in the direction associated with the respective tendon-motor pair. The configuration enables four primary bending orientations, each corresponding to an individual tendon-motor pair. Coordinated actuation of multiple tendons provides intermediate directional deflections and complex curvatures through the vector summation of the tensile forces exerted by the activated tendons. In an exemplary embodiment, the through-disk platform is configured to align the tendons and segments for managing interference from airflow disturbances, maintaining stability during close-proximity operations. Additionally, the memory may be a non-transitory volatile memory and a non-volatile memory. The memory may be coupled to communicate with the one or more hardware processors, such as being a computer-readable storage medium. The one or more hardware processors may execute machine-readable instructions and/or source code stored in the memory. A variety of machine-readable instructions may be stored in and accessed from the memory. The memory may include any suitable elements for storing data and machine-readable instructions, such as read-only memory, random access memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, a hard drive, a removable media drive for handling compact disks, digital video disks, diskettes, magnetic tape cartridges, memory cards, and the like. In the present disclosure, the memory may include the modules stored in the form of machine-readable instructions on any of the above-mentioned storage media and may be in communication with and executed by the one or more processors. Additionally, each of these modules when executed by the one or more processor 302 perform one or more functionalities described in the context of the hyper-redundant robotic arm 200. The one or more processors, as used herein, means any type of computational circuit, such as, but not limited to, a microprocessor unit, microcontroller, complex instruction set computing microprocessor unit, reduced instruction set computing microprocessor unit, very long instruction word microprocessor unit, explicitly parallel instruction computing microprocessor unit, graphics processing unit, digital signal processing unit, or any other type of processing circuit. The one or more processors may also include embedded controllers, such as generic or programmable logic devices or arrays, application-specific integrated circuits, single-chip computers, and the like. In an exemplary embodiment, simultaneous angular displacement and retraction is achieved through coordinated differential and collective actuation of the DC motors. The electronic unit transmits coordinated control signals such that selected motors retract tendons differentially to induce directional bending while all motors contribute to baseline retraction, enabling the arm to shorten in length simultaneously. The coordinated actuation through the computed PWM signals enables the hyper-redundant robotic arm 200 to perform complex multidirectional bending and retraction simultaneously. FIG.3A illustrates an exemplary schematic representation 300A of the retractable hyper-redundant robotic arm 200, according to an embodiment of the present invention. In an exemplary embodiment the hyper-redundant robotic arm 200 is also referred to as a snake arm or continuum arm, specifically configured for integration with the UAVs, more particularly multi-rotor drones. The hyper-redundant robotic arm 200 is adapted to perform dynamic extension, retraction, and continuous deformation, thereby enabling real-time adjustment of shape and length beyond the physical envelope of the hosting UAV. In an exemplary embodiment, the electronic unit 302A (the term ‘electronic unit may individually refer to ‘control unit’ 302A is provided at the top of the assembly, configured to house one or more microcontroller boards, communication modules, and power regulation circuitry. The control unit 302A is operatively coupled to the actuators 212 and sensors and executes command processing, tendons 210 control logic, and communication with external systems. In an exemplary embodiment, the control unit 302A are electrically powered and receive control signals via power and signal cables. Additionally, the control unit 302A are operatively coupled to a computing device, such as a laptop computer, which governs the motion of the arm to achieve desired configurations in terms of direction, shape, and length. In an exemplary embodiment, the retractable hyper-redundant robotic arm 200 includes the motor mount 304A operatively coupled to the robotic arm assembly. Further, the electronic unit 302A electrically interfaced with the motor mount 304A. The electronic unit 302A is configured to control and coordinate the motion of the robotic arm assembly by selectively actuating the motor mount 304A. The plurality of tendons 210 extend between the motor mount 304A and the robotic arm assembly, and are driven under the control of the electronic unit 302A. The tendons 210 are selectively tensioned and relaxed to enable multiple operational modes of the robotic arm, including extension, retraction, and directional orientation. Additionally, the tendons 210 are configured to trigger transitions between these operational modes based on the predetermined force threshold, thereby allowing the robotic arm to adaptively reconfigure its posture during operation. In an exemplary embodiment, a default mode of the hyper-redundant robotic arm 200 assembly is in the ‘extended mode’, which upon tightening all the four tendons leads to the retracted state. The angular displacement (mode 1) is achieved by differential tensioning of the tendons through selective actuation of individual DC motors. In particular, when a specific DC motor winds its corresponding tendon, the tensile force is generated on one side of the hyper-redundant robotic arm 200. If other tendons are relaxed or maintained at relative lower tension, the hyper-redundant robotic arm 200 bends toward the side of the activated DC motor. In an exemplary embodiment, the retraction (mode 2) is typically achieved by simultaneously actuating all four DC motors to retract the tendons uniformly. When all motors rotate to pull the tendons by equal lengths, the hyper-redundant robotic arm 200 contracts along with longitudinal axis without any significant bending. In an exemplary embodiment, simultaneous angular displacement and retraction are achieved by transmission of coordinated signals to all the DC motors. Further, some of the DC motors retract more than others to induce directional bending (Mode 1), and all of the DC motors contribute to a baseline retraction to shorten in length of the hyper-redundant robotic arm 200 (Mode 2). The electronic components configured to control of a tendon-driven robotic arm 200 include a microcontroller (Arduino Mega), the motor driver circuit (L298N), and the DC motors with pulleys that wind the tendons to adjust tension. In an exemplary embodiment, simultaneous control of angular displacement and retraction are achieved through both differential and collective actuation of the DC motors. The microcontroller is configured to determine and transmit the PWM signals to the motor drivers, which regulate the speed and direction of each of the DC motor. As a result, the tendons are pulled in a coordinated manner, some tensons are differentially tensioned, to induce angular bending, and others are collectively tensioned to retract the hyper-redundant robotic arm 200. In an exemplary embodiment, the coordinated actuation enables the robotic arm 200 to perform complex, multidirectional bending and retraction simultaneously, enabling versatile and adaptive motion control. Further, the motor mount 304A is mounted below the control unit, which securely holds a plurality of rotary actuators (not individually numbered in theFIG.1). Each actuator is associated with a corresponding tendon 210 and configured to apply rotational motion for winding or unwinding the tendon 210, thereby producing tension to control bending or retractable hyper-redundant robotic arm 200. The piston-cylinder assembly 204 is positioned vertically beneath the motor mount 304A and serves as the structural housing and tendon routing interface between the actuator 212 and the robotic arm. The tendons 210 are guided through internal channels within the piston-cylinder assembly 204, ensuring proper alignment and minimizing friction as they enter the hyper-redundant arm assembly. The extension and retraction assembly 202 includes the plurality of piston-cylinder assembly 204 interconnected via the plurality of universal joint (208) configured for multi-axis articulation. The hyper-redundant robotic arm extends downward from the cylinder 304A and includes the series of serially connected segments; each integrated with the universal joint 208 and internal spring mechanism. The tendons 210 are routed through the segment disks to enable both angular articulation (single-tendon pull) and axial retraction (multi-tendon pull), enabling dynamic and reconfigurable motion of the robotic arm in three-dimensional space. FIG.3B illustrates an exemplary schematic representation 300A of the retractable hyper-redundant robotic arm 200 in an extended state A plurality of actuators 212 are arranged in the square configuration (as illustrated in FIG.3C) at a base platform. Each actuator is operatively coupled to a corresponding tendon routed through the hyper-redundant robotic arm 200 and configured to modulate the tension in the tendon 210 for achieving directional bending, extension, or retraction of the arm. In an exemplary embodiment, each segment includes an extendable and retractable configuration 202, The universal joint 208 is interposed between adjacent segments to enable multi-axis rotation about a pivot point. FIG.3C is illustrates an exemplary schematic representation 300C of an electronic unit. The electronic unit 302A are electrically powered and receive control signals via power and signal cables. Additionally, the electronic unit 302A are operatively coupled to a computing device, such as a laptop computer, which governs the motion of the arm to achieve desired configurations in terms of direction, shape, and length. Further, the control of electronic unit 302A electrically coupled to the motor mount 304A configured to control and coordinate the motion of the robotic arm assembly by actuating the motor mount 304A. In an exemplary embodiment, the plurality of tendons 210 being selectively tensioned and relaxed under the control of the electronic unit 302A enables multiple operational modes of the robotic arm assembly for extension, retraction, and directional orientation. FIG.3D illustrates an exemplary schematic representation 300D of the DC motor mount 304A. The base platform 302D and the actuator 212 are mechanically coupled via an attachment component 304D forming a stable actuator assembly. A pulley 306D is directly mounted onto the shaft of the actuator 212 and is configured to drive one or more tendons 210 for motion control of the hyper-redundant robotic arm. Each actuator 212 is operatively connected to a respective flexible tendon 210 or string via the pulley mechanism. The tendon is characterized as non-tensile and non-compressible in its structural configuration. By selectively tensioning or relaxing the tendons 210, the actuators 212 cooperatively three-dimensional articulation and positioning of the robotic arm. Collectively, the set of four actuators enables coordinated control over the arm’s orientation, curvature, and extension. In one exemplary embodiment, the retractable hyper-redundant robotic arm 200 in one embodiment includes the DC motor mount 304A with multiple actuators 212 positioned in the square arrangement on the base platform 302D. The matching attachment component 304D connects each actuator 212 to the base platform 302D. A respective pulley 306D is attached to each of the actuators 212 and the plurality of tendons 210 are operatively coupled to the corresponding pulley mechanisms 306D (the term ‘’ interchangeably mentioned as “pulley mechanism”). To obtain the desired spatial orientation of the robotic arm assembly, the tendons 210 may be selectively tensioned or relaxed. The tendons 210 are flexible, non-tensile, and non-compressible. Each pulley mechanism 306D, driven by the corresponding actuator 212, modulates the tension in the tendons 210 for effective motion control. In an exemplary embodiment, the DC motor mount 304A in the retractable hyper-redundant robotic arm 200 further includes the plurality of actuators 212 mounted on the base platform 302D of a square configuration, through a corresponding set of the attachment components 304D. Further, the plurality of pulley mechanism 306D attached to each of the corresponding plurality of actuators 212. Furthermore, the plurality of tendons 210 operatively coupled to the corresponding plurality of pulley mechanism 306D. In addition, the plurality of tendons 210 being flexible, non-tensile, non-compressible and selectively tensioned and relaxed to achieve a desired orientation of a robotic arm assembly. Further, the plurality of pulley mechanism 306D mounted on corresponding plurality of actuators 212 drive the plurality of tendons 210 for motion control. Furthermore, the plurality of actuators 212 selectively rotates the plurality of pulley mechanism 306D to modulate the tension of the plurality of tendons 210 enabling controlled three-dimensional orientation of the robotic arm assembly. In an exemplary embodiment, the force applied to each tendon is directly related to the rotation of corresponding DC motor. The shaft of the motor is connected to a pulley or spool around which the tendon is wound. The tendon runs through the arm segments, passing through holes or aperture in a through-disk platform located at each segment. One end of the tendon is anchored at the distal end of the arm. Based on the rotational direction of the DC motor clockwise (CW) or counterclockwise (CCW) — the tendon is either wound tighter (increasing tension) or unwound (decreasing tension). In an exemplary embodiment, the DC motor rotates clockwise the tendons is pulled by winding around the pulley, thereby increasing the tensile force along the tendon. The increased tension pulls the distal end of the arm segment. As the tendon passes through holes of the through-disk platforms on each arm segment, the pulling force causes the hyper-redundant robotic arm 200 to bend progressively towards the side of the tensioned tendon. In an exemplary embodiment, when the DC motor rotates counterclockwise the tendon is unwound to reduce the tensile force, thereby releases or loosens the tendon which results in the hyper-redundant robotic arm 200 straightening or bending less in the corresponding direction. In an exemplary embodiment, the direction and speed of rotation of the DC motor are determined by the polarity and magnitude of the voltage applied electronically to the terminals of the DC motor. Specifically, each tendon extends through holes in the through-disk platforms of the plurality of segments and is anchored at the distal end of the hyper-redundant robotic arm 200 assembly. The rotational direction of each DC motor determines tendon tension modulation, where clockwise rotation winds the tendon around the pulley to increase tensile force and induce progressive bending toward the tensioned tendon, while counterclockwise rotation unwinds the tendon to reduce tension and enable arm straightening. The direction and rotational speed of each motor is controlled by the polarity and magnitude of voltage applied to the motor terminals via the motor driver circuits. FIG. 4 illustrates an exemplary exploded view 400 of the extendable and retractable segment and the piston-cylinder assembly 204 of the retractable hyper-redundant robotic arm 200. In an exemplary embodiment, Part (a) and part (b) of FIG.4 illustrates the portion of the piston-cylinder assembly 204 includes a cylindrical casing 402 that encapsulates a customized conical spring 404, and a piston rod 408 operatively coupled to the conical spring 404 and connected to a piston disk 410, forming a spring-loaded actuation mechanism within the segment. In an exemplary embodiment, the piston rod 408 is further connected to a through-disk platform 412, which is configured to receive a functional tool or to enable mechanical attachment to an adjacent assembly. The piston rod 408 is adapted to provide the linear actuation motion required for extension and retraction of the segment. A cross-sectional attachment is fixed at the front end of the piston rod 408, forming the interface between the linear actuator and the cylindrical casing 402 of the segment. The housing or cylindrical casing 402 encloses the conical spring 404 and guides the linear movement of the piston rod 408, while also serving as a load-bearing structural member for coupling with the next joint segment in the robotic arm assembly. The part (c) of FIG.4 is schematic representation of the conical spring 404. A conical geometry is employed due to its inherent mechanical advantage of resisting bending under axial loads, thereby enabling pure linear actuation during operation. The conical spring 404 configuration enables the conical spring 404 to remain uncompressed under nominal tendon tension and to compress only when a collective tensile force exceeding the threshold is applied by all four tendon-driven units. Upon reaching the threshold, the conical spring 404 undergoes axial compression, allowing for linear retraction of the corresponding segment. Further, the conical spring 404 in each segment is configured with the predetermined stiffness to compress when the collective tensile force exerted by the plurality of tendons 210 exceeds the threshold, for adjustment of a length and an orientation of the retractable hyper-redundant robotic arm 200 with minimal actuation force. Furthermore, the conical spring 404 includes the coil formed with tapered geometry of progressively varying diameter along the length. Further, the stiffness of the conical spring 404 is decided during the design stage and depends on the diameter of the conical spring 404. The diameter is determined based on mechanical factors like the elasticity of the material, the thickness of the wire, and the type of materials used in the robotic arm. The design choices ensure that the conical spring 404 performs reliably and consistently when the arm is in use Table 1 discloses the design parameters of the customized conical spring (404) as follows Parameter Value Material Stainless Steel Wire Diameter 1 mm Stiffness 0.7516 N/mm Deflection 20 mm Force Required to start the deflection 4 N Force Required for 20 mm deflection 15.032 N FIG. 5 illustrates an exemplary schematic representation 500 of the universal joints 208. The universal joint 208 is a mechanical connector that allows two shafts or components to rotate relative to each other in multiple directions or angles. The universal joint 208 enables smooth transmission of motion or force even when the connected parts are not perfectly aligned. Part (a) of the FIG.5 and Part (b) of the FIG.5 illustrates an exploded view of the universal joints 208 respectively. The retractable hyper-redundant robotic arm 200 incorporates the plurality of universal joints 208 interposed between adjacent piston-cylinder assemblies 304A to enable multi-axis articulation of the arm segments. Further, Part (a) of the FIG.5 and illustrates the central coupling block 502 with a first pin 504 and a second pin disposed on perpendicular axes. A first bracket 508 and the second bracket 510 placed on opposing sides of the central coupling block. Furthermore, the first bracket 508 rotatably attached to the first pin 504 and the second bracket 510 rotatably attached to the second pin 506.In addition, the first pin 504 and the second pin 506 enables rotation of the first bracket 508 and the second bracket 510 about two perpendicular planes relative to the central coupling block 502. Further, Part (b) of the FIG.5 illustrates exploded view of schematic representation 500 of the universal joints 208. Further, the controlling multi-axis rotational articulation using the plurality of universal joints 208 includes rotating the first bracket 508 and the second bracket 510 about the first pin 504 and the second pin 506 disposed on perpendicular axes of a central coupling block. Furthermore, the plurality of universal joints 208 enabling rotation of the first bracket 508 and the second bracket 510 about two perpendicular planes relative to the central coupling block 502 to achieve multi-axis articulation. In an exemplary embodiment, the plurality of universal joint 208 provides motion exclusively along four primary directions aligned with two orthogonal planar directions relative to the preceding plurality of piston-cylinder assembly 204. Further, the plurality of universal joint 208 supports the extension and retraction of the robotic arm assembly during non-linear configurations, to adapt and extend to various shaped configurations. Furthermore, the plurality of universal joint 208 configured to enable rotation of the corresponding plurality of the piston-cylinder assembly 204, mechanically isolates the customized conical spring 404 from axial compression during the rotation. FIG. 6 illustrates an exemplary schematic representation 600 of the arrangement of key components in the retractable hyper-redundant robotic arm 200. Further, part (a) and part (b) of the FIG.6 represents the arrangement and the manner in which the universal joint 208 is positioned between adjacent arm segments, while the tendons 210 are routed through the through-disk platform 412 and piston rod 408 inside the casing. At the distal end, the image capturing unit 206 mounted at a distal end of the retractable hyper-redundant robotic arm via an attachment, configured for inspection or tracking applications Further, the universal joint 208 allows rotational articulation between adjacent segments without inducing compression in the conical spring 404, ensuring that rotational motion occurs independently of axial loading. Axial compression of the spring is actuated exclusively when all four tendons 210 apply synchronized pulling forces sufficient to surpass the calibrated stiffness threshold. At the distal end, the image capturing unit 206, such as a Pi Camera is mounted through the dedicated attachment or mount for inspection or tracking applications. In an embodiment, the retractable hyper-redundant robotic arm 200 includes the tendon-driven actuation mechanism, where pulling the tendon 210 induces rotation of one segment relative to another. The tendon-driven actuation mechanism is repeated or iterated across the chain of segments, resulting in the highly flexible and adaptive robotic arm structure. FIG.7 illustrates an exemplary schematic representation 700 of the through-disk platform 412. Part (a), part (b) and part (c) of FIG.7 representing dimensions of the through-disk platform 412. The plurality of tendons 210 extend longitudinally along the arm segments and are operatively configured to transmit actuation forces for controlled motion and retraction of the arm. By modulating the tension in each tendon 210, the arm’s length is dynamically varied. Furthermore, the tendons 210 are routed alongside the universal joints 208, which enable multi-axis articulation and enable relative orientation between adjacent arm segments. FIG.8 illustrates an exemplary various view 800 of the cylindrical casing 402 along with dimension. Part (a), part (b) and part (c) of FIG. 8 representing a top view, a perspective view and a side view of the cylindrical casing 402. FIG.9 illustrates an exemplary various view 900 of the piston rod 408 along with the dimensions. Part (a), part (b) and part (c) of FIG.9 representing a top view, a perspective view and a side view of the piston rod 408. The piston rod 408 is further connected to the through-disk platform 412, which is configured to receive the tool or to enable attachment to another assembly. The piston rod 408 provides the linear motion necessary for the segment’s extension and retraction. Further, the cross-sectional attachment is fixed to the end of the piston rod 408 and forms the interface between the linear actuator 212 and the outer casing of the segment. The cylindrical casing 402 encloses the spring and guides the piston rod’s 408 linear movement. The cylindrical casing 402 or housing also acts as the structural support for integrating with the following joint segment. FIG.10 illustrates an exemplary various view 1000 of the universal joints 208 along with the dimensions. Part (a), part (b) and part (c) of FIG.10 representing a top view, a perspective view and a side view of the universal joints 208. The universal joint 208 is configured to enable each segment of the retractable hyper-redundant robotic arm 200 to pivot with multiple degrees of freedom while maintaining minimal resistance, thereby providing a significant advantage over conventional hyper-redundant robot designs. The rotary joint is specifically designed to align with the four tendons 210, allowing motion exclusively along the ±X and ±Y axes relative to the preceding segment. The directional constraint prevents undesired diagonal motion, ensuring controlled extension and retraction along the primary axis (−Z to +Z) and maintaining accurate alignment of the segments. FIG.11 illustrates an exemplary schematic representation 1100 a spring-mass and a two-link manipulator system of the segments of the hyper-redundant robotic arm 200. The configuration of the two-link manipulator system enables simplified kinematic and dynamic modelling for precise control and analysis. The present invention operates with reduced force and energy requirements, thereby enhancing efficiency for UAV applications. Furthermore, its capability to extend, retract, and rotate freely provides superior flexibility and reach while minimizing the effects of downwash airflow from the drone’s propellers. In an exemplary embodiment, the manipulation system operates under two distinct modes, depending on the actuation pattern of the tendons 210.Further, the first mode is single-Tendon Actuation, functioning as a serial-link manipulator configuration and the second mode is a multi-tendon actuation operating as a spring-sass retraction mechanism In the first mode, when the single tendon 210 is tensioned individually, the force induces rotational motion about the universal joint 208 positioned between adjacent segments. In the first mode, the conical spring 404 remains in a relaxed state, resisting axial compression due to the limited magnitude and localized nature of the applied force. Consequently, the manipulator function as a conventional serial-link robotic arm, with each segment undergoing angular displacement in response to the applied tendon force. The kinematic and dynamic behaviour of the manipulation system in the first mode may be modelled using standard a Euler-Lagrange formulations, considering joint torques generated via tendon forces. In the second mode, upon simultaneous actuation of all four tendons 210 associated with a given segment, the cumulative tensile force is transmitted longitudinally through the segment axis. when the collective force exceeds a predetermined stiffness threshold defined by the mechanical characteristics of the conical spring 404 (e.g., wire diameter, pitch, and cone angle), the spring undergoes axial compression. The compression action results in a linear retraction of the segment toward the proximal direction. In the second mode, the manipulator segments effectively behave as a series of masses connected by the compressible springs. The dynamics of this configuration can be approximated using the spring-mass system equations, focusing on translational displacements governed by a Hookean mechanics. In an exemplary embodiment, a mode transition mechanism is provided, where a force-based control logic is configured to govern the dynamic switching between the two operational modes. Particularly, (a) when the total tendon force F_t acting on a segment satisfies F_t