Le Boudec, Brice; Saad, Maarouf; Nerguizian, Vahé - In: Mathematics and Computers in Simulation (MATCOM) 71 (2006) 4, pp. 395-403
This paper presents an adaptive control scheme for a hyper-redundant robot articulated nimble adaptable trunk (ANAT) subject to spatial constraints. An optimization scheme is applied to avoid obstacles in 3D space present in the robot's trajectory by using redundancy, and to prevent the robot...