Shugen Ma, Mototsugu Konno. An obstacle avoidance scheme for hyper-redundant manipulators-global motion planning in posture space. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 161-166, IEEE, 1997. [doi]
Abstract is missing.