Center for Human Modeling and Simulation

Document Type

Conference Paper

Date of this Version

May 1992


Copyright 1992 IEEE. Reprinted from Proceedings of IEEE International Conference on Robotics and Automation, Volume 3, May 1992, pages 2340-2345.

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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.



Date Posted: 31 July 2007

This document has been peer reviewed.