Chapter 40 — Mobility and Manipulation

Task-consistent, obstacle avoidance for mobile manipulation

This robot can avoid moving obstacles with real-time path modification by using an elastic-strip framework. However, the real-time path modification can interfere with task execution. The proposed task-consistent, elastic planning method can ensure the task execution while achieving obstacle avoidance.
Oliver Brock, Oussama Khatib, Sriram Viji