Motion planning for hyper-redundant manipulator systems: combining path following and improved APF-RRT* Path finding

Abstract Hyper-redundant manipulator systems (HRMSs) have significant applications in various scenarios. Due to their excessive degrees of freedom (DOF), they can navigate into confined spaces and perform tasks such as exploration, detection, and maintenance. However, its flexibility also renders it...

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Bibliographic Details
Published in:Complex & Intelligent Systems
Main Authors: Hongcheng Ji, Cheng Wang, Chengzhen Wang, Haibo Xie
Format: Article
Language:English
Published: Springer 2025-09-01
Subjects:
Hyper-redundant manipulator
Motion planning
Path planning
RRT*
APF
Path following
Online Access:https://doi.org/10.1007/s40747-025-02081-7

Internet

https://doi.org/10.1007/s40747-025-02081-7

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