Preprint · simulation and hardware

Coordinating a mobile base and continuum arm around obstacles

A unified framework combines long-horizon planning with local geometric refinement for coordinated base–arm motion in cluttered spaces.

What changed

A* and minimum-jerk planning provide references; inverse kinematics and Riemannian optimization coordinate base motion, arm shape and avoidance.
The authors report pipe-traversal simulations and hardware trials among dense obstacles and in confined workspaces.

Feasibility concerns the base and the entire arm as well as the end-effector target.

Compiled by OpenRuwei editorial