Development of redundant robot simulator for Avoiding arbitrary obstacles based on semi-analytical method of solving inverse kinematics.

Seiji Aoyagi Kazuya Tashiro Mamoru Minami Masaharu Takano Development of redundant robot simulator for Avoiding arbitrary obstacles based on semi-analytical method of solving inverse kinematics. 3497-3502 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399277 conf/iros/2007 db/conf/iros/iros2007.html#AoyagiTMT07