Fast motion planning for anthropometric figures with many degrees of freedom

Human-like robots are useful in many areas such as deep sea mining and space applications. An efficient motion planning algorithm for these type of robots will be helpful in achieving task level programming. In this paper we present a new efficient algorithm that has successfully computer collision free motions for anthropometric figures with many degrees of freedom within a clustered environment. Comments Copyright 1992 IEEE. Reprinted from Proceedings of IEEE International Conference on Robotics and Automation, Volume 3, May 1992, pages 2340-2345. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of they copyright laws protecting it. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/hms/70