An obstacle avoidance algorithm for hyper-redundant manipulators

  • Chirikjian G
  • Burdick J
  • 47


    Mendeley users who have this article in their library.
  • 99


    Citations of this article.


Novel kinematic algorithms for implementing planar hyperredundant manipulator obstacle avoidance is presented. Unlike artificial potential field methods, the method outlined is strictly geometric. Tunnels are defined in a workspace in which obstacles are presented. Methods of differential geometry are then used to formulate equations which guarantee that sections of the manipulator are confined to the tunnels and therefore avoid the obstacles. A general formulation is given with examples to illustrate this approach

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • G.S. Chirikjian

  • J.W. Burdick

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free