1. A method for controlling a hyper-redundant manipulator comprising a plurality of links coupled by joints, by determining a shape the manipulator forms from base to end when the end is moved to a target position, the method comprising: modeling each link as an elastic body having a natural length and an appropriate modulus of elasticity that enables the elastic body to stretch and contract just in a linkage direction; simulating an overall shape of the manipulator when the end has been moved to a target position with the joints locked at a freezed angle and the joints are unlocked to return each link to its natural length; and moving the manipulator end to the target position by controlling each joint angle to match the simulation outcome.