An obstacle avoidance algorithm for hyper-redundant manipulators

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. >

Authors

• Gregory S. Chirikjian
• Joel W. Burdick

Keywords

• Manipulators
• Kinematics
• Spine
• Robots
• Tensile stress
• Morphology
• Optimization methods
• Computational geometry
• Differential equations
• Potential well
• Obstacle Avoidance
• Degrees Of Freedom
• Tentacles
• Differential Geometry
• Artificial Potential Field
• Function Of Time
• Specific Examples
• Step Function
• Bessel Function
• Arc Length
• Window Function
• Geometric Constraints
• End-effector
• Function Curve
• Continuous Curve
• Inverse Kinematics
• Local Plane
• Continuous Solution
• Rigid Linker
• Circular Arc