This paper proposes a two-layer path-planning method, where an optimized artificial
potential field (APF) method and an improved dynamic window approach (DWA) are used at …

Continuum hyper-redundant manipulators (CHRMs) have been widely applied in
aerospace, medical or other fields to complete tasks in narrow and multi-obstacles …

With high flexibility and maneuverability, Hyper-redundant manipulators can work in a
narrow space, and have great application potential in the complex space of aerospace …

This work proposes a geometric approach to inverse kinematics of hyper-redundant
manipulators used for remote maintenance of nuclear fusion reactors. The approach is …

As a typical kind of special robot with high flexibility and maneuverability, the
hyperredundant manipulators (HRM) which can work in the narrow and complex space …

This article proposes an adaptive trajectory control method for under-actuated snake robots
by simplifying the control and actuation systems of hyper-redundant robots. The under …

The inverse kinematics (IK) of continuum robot is a challenging work due to the hyper-
redundant DOFs and the narrow and complex operating environment. However, many of the …

In the robot field, it has always been a hard issue of solving inverse kinematics (IK) problems
of redundant robot. Although many researchers have come up with solutions for redundant …

In this paper, a modeling, cooperative planning and compliant control method is presented
for multi-arm space continuous robots in target manipulation. Firstly, according to the closed …

This paper proposes a novel constrained optimization model to address the loco-
manipulation problem of mobile robot with redundant manipulator for trajectory tracking. To …