Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles

Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obsta...

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Bibliographic Details
Main Authors: Liangliang Zhao, Zainan Jiang, Yongjun Sun, Jingdong Zhao, Hong Liu
Format: Article
Language:English
Published: SAGE Publishing 2021-02-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881421996148