{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T11:49:48Z","timestamp":1762429788425},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[1997,7,1]],"date-time":"1997-07-01T00:00:00Z","timestamp":867715200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1997,7]]},"abstract":"<jats:p>A task based approach to the issue of redundant robots starts from the\npremise that there are obstacles that cannot be removed from the working area\nand which therefore must be avoided. This statement produces the requirement for\na device with a certain degree of mobility, and stresses the need to ensure that\nthe aim is twofold: reach the goal and avoid obstacles. But avoiding obstacles\nis not the same objective as keeping as far away from an obstacle as possible;\nthe primary goal is still to reach the target. In fact humans use soft contact\nto reach targets that are at the periphery of their reach. This soft distributed\ncontact has the effect of smoothing the surface of the object and hence there is\nan element of only being interested in obstacle detail at the appropriate scale\nto achieve the task.<\/jats:p><jats:p> This paper describes a new approach to collision\navoidance based on using a global path finding algorithm, in this case using\nLaplacian potential fields, in conjunction with a simple local geometrically\nbased algorithm for avoiding obstacles and maximising the use of manoeuvring\nspace in a manner which is not limited by digital computation resolution issues.\nThis extra technique is in some ways analogous to the human soft contact\napproach.<\/jats:p><jats:p> Three examples are presented to illustrate the robustness of\nthe algorithm. In order to be able to compare results with other techniques, an\nenvironment measurement scheme is defined which gives an indication of the\ndifficulty of the trajectory being followed.<\/jats:p>","DOI":"10.1017\/s0263574797000532","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"435-447","source":"Crossref","is-referenced-by-count":11,"title":["Manoeuvring highly redundant manipulators"],"prefix":"10.1017","volume":"15","author":[{"given":"E. Sahin","family":"Conkur","sequence":"first","affiliation":[]},{"given":"Rob","family":"Buckingham","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[1997,7,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000532","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T20:38:10Z","timestamp":1557607090000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000532\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,7]]},"references-count":0,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1997,7]]}},"alternative-id":["S0263574797000532"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000532","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,7]]}}}