Research paper
Elastic strips for reactive whole-body motion
A planned motion is deformed online to avoid obstacles while maintaining task and posture behavior when compatible. The deposited abstract reports demonstrations on a nine-axis mobile manipulator and34-axis humanoid, with task suspension/resumption when constraints conflict.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Elastic Strips: A Framework for Motion Generation in Human Environments
- Publisher
- SAGE Publications
- Authors
- Oliver Brock, Oussama Khatib
- DOI
- 10.1177/0278364902021012002
- Journal issue date
- 2002-12
- Source language
- en
- Edition
- The International Journal of Robotics Research
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
A planned motion is deformed online to avoid obstacles while maintaining task and posture behavior when compatible. The deposited abstract reports demonstrations on a nine-axis mobile manipulator and34-axis humanoid, with task suspension/resumption when constraints conflict.
Use and review
Local collision avoidance does not establish a globally feasible route. Geometry, sensing, moving-obstacle prediction and real-time execution assumptions need application-specific checks.
Sources & editions
Elastic Strips: A Framework for Motion Generation in Human Environments ↗
SAGE Publications · The International Journal of Robotics Research
Publisher-deposited Crossref abstract/authors and month-only original issue date checked; online metadata separately adds day1. Restricted publisher full text not acquired.