{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T18:47:09Z","timestamp":1775069229538,"version":"3.50.1"},"reference-count":40,"publisher":"Elsevier BV","issue":"1","license":[{"start":{"date-parts":[[2002,10,1]],"date-time":"2002-10-01T00:00:00Z","timestamp":1033430400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2002,10]]},"DOI":"10.1016\/s0921-8890(02)00274-9","type":"journal-article","created":{"date-parts":[[2002,10,9]],"date-time":"2002-10-09T10:29:18Z","timestamp":1034159358000},"page":"41-59","source":"Crossref","is-referenced-by-count":58,"title":["Real-time control of redundant robotic manipulators for mobile obstacle avoidance"],"prefix":"10.1016","volume":"41","author":[{"given":"V.","family":"Perdereau","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"C.","family":"Passi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Drouin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"78","reference":[{"key":"10.1016\/S0921-8890(02)00274-9_BIB1","doi-asserted-by":"crossref","unstructured":"J. Ballieul, Kinematic programming alternatives for redundant manipulators, in: Proceedings of the IEEE International Conference on Robotics and Automation, St Louis, MO, March 1985, pp. 722\u2013728.","DOI":"10.1109\/ROBOT.1985.1087234"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB2","doi-asserted-by":"crossref","unstructured":"J. Baillieul, A constraint oriented approach to inverse problems for kinematically redundant manipulators, in: Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, 1987, pp. 1827\u20131833.","DOI":"10.1109\/ROBOT.1987.1087809"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB3","doi-asserted-by":"crossref","unstructured":"P.H. Chang, A closed-form solution for the control of manipulators with kinematics redundancy, in: Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April 1986, pp. 722\u2013728.","DOI":"10.1109\/ROBOT.1986.1087725"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB4","doi-asserted-by":"crossref","unstructured":"F.-T. Cheng, T.-H. Chen, Y.-S. Wang, Y.-Y. Sun, Obstacle avoidance for redundant manipulators using the compact QP method, in: Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, May 1993, pp. 262\u2013269.","DOI":"10.1109\/ROBOT.1993.292186"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB5","doi-asserted-by":"crossref","unstructured":"C. Chevallereau, W. Khalil, A new method for the solution of the inverse kinematics of redundant robots, in: Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, April 1988, pp. 37\u201342.","DOI":"10.1109\/ROBOT.1988.12020"},{"issue":"4","key":"10.1016\/S0921-8890(02)00274-9_BIB6","doi-asserted-by":"crossref","first-page":"410","DOI":"10.1177\/027836499101000409","article-title":"Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy","volume":"10","author":"Chiacchio","year":"1991","journal-title":"International Journal of Robotics Research"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB7","doi-asserted-by":"crossref","unstructured":"G.S. Chirikjian, J.W. Burdick, An obstacle avoidance algorithm for hyper-redundant manipulators, in: Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, May 1990, pp. 625\u2013631.","DOI":"10.1109\/ROBOT.1990.126052"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB8","doi-asserted-by":"crossref","unstructured":"S.L. Chiu, Control of redundant manipulators for task compatibility, in: Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, 1987, pp. 1718\u20131724.","DOI":"10.1109\/ROBOT.1987.1087795"},{"issue":"2","key":"10.1016\/S0921-8890(02)00274-9_BIB9","first-page":"112","article-title":"The reduced gradient method for solving redundancy in robot arms","volume":"7","author":"De Luca","year":"1991","journal-title":"Robotersysteme"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB10","doi-asserted-by":"crossref","unstructured":"J.E. Dennis, Numerical methods for unconstrained optimization and non-linear equations, Society for Industrial and Applied Mathematics, Philadelphia, PA, 1996.","DOI":"10.1137\/1.9781611971200"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB11","doi-asserted-by":"crossref","unstructured":"A.S. Deo, I.D. Walker, Adaptive non-linear least squares for inverse kinematics, in: Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, May 1993, pp. 186\u2013193.","DOI":"10.1109\/ROBOT.1993.291981"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB12","doi-asserted-by":"crossref","unstructured":"B. Faverjon, Obstacle avoidance using an octree in the configuration space of a manipulator, in: Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, March 1984.","DOI":"10.1109\/ROBOT.1984.1087218"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB13","doi-asserted-by":"crossref","unstructured":"B. Faverjon, P. Tournassoud, A local based approach for path planning of manipulators with a high number of degrees of freedom, in: Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, 1987, pp. 1152\u20131159.","DOI":"10.1109\/ROBOT.1987.1087982"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB14","unstructured":"R. Featherstone, Accurate trajectory transformations for redundant and non-redundant robots, in: Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 8\u201313."},{"issue":"1","key":"10.1016\/S0921-8890(02)00274-9_BIB15","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1109\/JRA.1985.1087003","article-title":"Distance functions and their application to robot path planning in the presence of obstacles","volume":"1","author":"Gilbert","year":"1985","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB16","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1016\/S0167-8493(85)90306-7","article-title":"Studies on a light weight and flexible robot manipulator","volume":"1","author":"Hemami","year":"1985","journal-title":"Robotics"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB17","doi-asserted-by":"crossref","unstructured":"S. Hirose, Y. Umetani, Kinematic control of active cord mechanism with tactile sensors, in: Proceedings of the Second International CISM-IFT Symposium on Theory and Practice of Robots and Manipulators, 1976, pp. 241\u2013252.","DOI":"10.9746\/sicetr1965.12.543"},{"issue":"1","key":"10.1016\/S0921-8890(02)00274-9_BIB18","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1177\/027836498600500106","article-title":"Real-time obstacle avoidance for manipulators and mobile robots","volume":"5","author":"Khatib","year":"1986","journal-title":"International Journal of Robotics Research"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB19","doi-asserted-by":"crossref","unstructured":"P. Khosla, R. Volpe, Superquadric artificial potentials for obstacle avoidance and approach, in: Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, April 1988, pp. 1778\u20131784.","DOI":"10.1109\/ROBOT.1988.12323"},{"issue":"3","key":"10.1016\/S0921-8890(02)00274-9_BIB20","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1109\/70.143352","article-title":"Real-time obstacle avoidance using harmonic potential functions","volume":"8","author":"Kim","year":"1992","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB21","first-page":"245","article-title":"Automatic supervisory control of the configuration and behavior of multi-body mechanisms","volume":"SMC-9","author":"Li\u00e9geois","year":"1977","journal-title":"IEEE Transactions on Systems Man and Cybernetics"},{"issue":"2","key":"10.1016\/S0921-8890(02)00274-9_BIB22","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1109\/TC.1983.1676196","article-title":"Spatial planning: a configuration space approach","volume":"C-32","author":"Lozano-P\u00e9rez","year":"1983","journal-title":"IEEE Transactions on Computers"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB23","doi-asserted-by":"crossref","unstructured":"S. Ma, M. Konno, An obstacle avoidance scheme for hyper-redundant manipulators: global motion planning in posture space, in: Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 1997, pp. 161\u2013166.","DOI":"10.1109\/ROBOT.1997.620032"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB24","doi-asserted-by":"crossref","unstructured":"A. Mohri, M. Yamamoto, G. Hirano, Cooperation path planning for two manipulators, in: Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996, pp. 2853\u20132858.","DOI":"10.1109\/ROBOT.1996.506595"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB25","doi-asserted-by":"crossref","first-page":"584","DOI":"10.1177\/027836499201100608","article-title":"Restricted Jacobian matrices of redundant manipulators in constrained motion task","volume":"11","author":"Nenchev","year":"1992","journal-title":"International Journal on Robotics Research"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB26","doi-asserted-by":"crossref","first-page":"104","DOI":"10.1016\/0196-6774(85)90021-5","article-title":"A retraction method for planning the motion of a disk","volume":"6","author":"O\u2019D\u00f9nlaing","year":"1982","journal-title":"Journal of Algorithms"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB27","unstructured":"V. Perdereau, M. Drouin, About kinematic instability and stabilization of hybrid control scheme, in: Proceedings of the International Symposium on Robotics and Manufacturing: Research, Education and Applications, Maui, HI, August 1994, pp. 525\u2013530."},{"key":"10.1016\/S0921-8890(02)00274-9_BIB28","doi-asserted-by":"crossref","unstructured":"A. Ramdane-Cherif, V. Perdereau, M. Drouin, Penalty approach for a constrained optimization to solve on-line the inverse kinematic problem of redundant manipulators, in: Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996, pp. 133\u2013138.","DOI":"10.1109\/ROBOT.1996.503585"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB29","doi-asserted-by":"crossref","unstructured":"A. Ramdane-Cherif, D.Y. Meddah, V. Perdereau, M. Drouin, Inverse kinematic solution based on Lyapunov function for redundant and non-redundant robots, in: Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, CA, July 1997, pp. 226\u2013231.","DOI":"10.1109\/CIRA.1997.613862"},{"issue":"6","key":"10.1016\/S0921-8890(02)00274-9_BIB30","doi-asserted-by":"crossref","first-page":"897","DOI":"10.1002\/rob.4620070607","article-title":"Improved configuration control for redundant robots","volume":"7","author":"Seraji","year":"1990","journal-title":"Journal of Robotic Systems"},{"issue":"4","key":"10.1016\/S0921-8890(02)00274-9_BIB31","doi-asserted-by":"crossref","first-page":"670","DOI":"10.1109\/70.781972","article-title":"Real-time collision avoidance for position-controlled manipulators","volume":"15","author":"Seraji","year":"1999","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB32","doi-asserted-by":"crossref","unstructured":"M. Sharir, A. Schorr, On shortest paths in polyhedral spaces, in: Proceedings of the 16th ACM Symposium on Theory of Computing, Washington, DC, 1984, pp. 144\u2013153.","DOI":"10.1145\/800057.808676"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB33","doi-asserted-by":"crossref","unstructured":"Z. Shiller, Interactive time optimal robot motion planning and work-cell layout design, in: Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, May 1989, pp. 964\u2013969.","DOI":"10.1109\/ROBOT.1989.100105"},{"issue":"2","key":"10.1016\/S0921-8890(02)00274-9_BIB34","first-page":"86","article-title":"A rule-based inverse kinematics algorithm for redundant manipulators","volume":"2","author":"Slotine","year":"1987","journal-title":"International Journal of Robotics and Automation"},{"issue":"5","key":"10.1016\/S0921-8890(02)00274-9_BIB35","doi-asserted-by":"crossref","first-page":"460","DOI":"10.1177\/027836499201100503","article-title":"Optimal trajectory planning of manipulators with collision detection and avoidance","volume":"11","author":"Wang","year":"1992","journal-title":"International Journal of Robotics Research"},{"issue":"2","key":"10.1016\/S0921-8890(02)00274-9_BIB36","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1109\/TMMS.1969.299896","article-title":"Resolved motion rate control of manipulators and human prostheses","volume":"MMS-10","author":"Whitney","year":"1969","journal-title":"IEEE Transactions on Man\u2013Machine Systems"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB37","doi-asserted-by":"crossref","unstructured":"W.A. Wolovich, H. Elliott, A computational technique for inverse kinematics, in: Proceedings of the Third IEEE Conference on Decision and Control, Las Vegas, NV, December 1984, pp. 1359\u20131363.","DOI":"10.1109\/CDC.1984.272258"},{"key":"10.1016\/S0921-8890(02)00274-9_BIB38","unstructured":"T. Yoshikawa, Analysis and control of robot manipulators with redundancy, in: Proceedings of the First International Symposium of Robotics Research, Bretton Woods, NH, August 1983."},{"key":"10.1016\/S0921-8890(02)00274-9_BIB39","unstructured":"T. Yoshikawa, Analysis and control of robot manipulators with redundancy, in: Proceedings of the First International Symposium, MIT Press, Cambridge, MA, 1984, pp. 735\u2013748."},{"key":"10.1016\/S0921-8890(02)00274-9_BIB40","unstructured":"T. Yoshikawa, Manipulability of robotic mechanisms, in: Proceedings of the Second International Symposium of Robotics Research, Kyoto, August 1984, pp. 91\u201398."}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889002002749?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889002002749?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2019,4,9]],"date-time":"2019-04-09T04:25:01Z","timestamp":1554783901000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889002002749"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,10]]},"references-count":40,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2002,10]]}},"alternative-id":["S0921889002002749"],"URL":"https:\/\/doi.org\/10.1016\/s0921-8890(02)00274-9","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2002,10]]}}}