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The static curve is constructed based on a traditional rapidly exploring random tree algorithm, and a backbone curve is utilized as the dynamic curve. For these two curves, two novel shape control methods are proposed to accomplish the shape constraining process. Finally, we verify the reliability and effectiveness of our algorithm through simulations.<\/jats:p>","DOI":"10.1017\/s0263574721000928","type":"journal-article","created":{"date-parts":[[2021,8,3]],"date-time":"2021-08-03T08:24:38Z","timestamp":1627979078000},"page":"1036-1069","source":"Crossref","is-referenced-by-count":9,"title":["An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4996-7362","authenticated-orcid":false,"given":"Xiaobo","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinguo","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4448-3310","authenticated-orcid":false,"given":"Yangmin","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,8,3]]},"reference":[{"key":"S0263574721000928_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.05.001"},{"key":"S0263574721000928_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2969497"},{"key":"S0263574721000928_ref53","doi-asserted-by":"publisher","DOI":"10.1145\/966131.966132"},{"key":"S0263574721000928_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471800084X"},{"key":"S0263574721000928_ref25","article-title":"RRT-Connect: A Efficient Approach to Single-query Path Planning","author":"Kuffner","year":"2000","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"S0263574721000928_ref41","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10067"},{"key":"S0263574721000928_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2003.811519"},{"key":"S0263574721000928_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1983.1676196"},{"key":"S0263574721000928_ref48","doi-asserted-by":"publisher","DOI":"10.1109\/70.988980"},{"key":"S0263574721000928_ref4","doi-asserted-by":"publisher","DOI":"10.3390\/app9061142"},{"key":"S0263574721000928_ref40","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)0893-1321(1999)12:2(65)"},{"key":"S0263574721000928_ref2","unstructured":"[2] Chirikjian, G. 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