# Riemannian Optimization-Based Whole-Body Obstacle Avoidance Framework for Mobile Continuum Robots

- Source: arXiv cs.RO
- Published: 2026-11-05T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/bejwjinb1a9xp83qyjphi64jx
- Original: https://arxiv.org/abs/2611.06214

## Summary

The study proposes a unified planning and control framework for mobile continuum robots, combining a global layer consisting of A* search and minimum-jerk planning with a local layer consisting of a geometry-consistent inverse kinematics solver and Riemannian optimization, to coordinate the mobile base and continuum deformation for obstacle avoidance. The authors compare it with multiple baseline planners in simulated pipe-traversal tasks and conduct real-world experiments on navigation among dense obstacles and manipulation in confined spaces. Results show improvements in motion consistency, feasibility, and adaptability.