In this paper, it is the first time via actual workspace analysis to propose a simple obstacle-avoidance approach based on initial configuration planning of the backbone curve for hyper-redundant robot.

• 首次通过对基于脊线表达的平面超冗余度机器人机构的实际工作空间的分析，提出了一种简单的基于脊线初始位形规划的避障方法。