Path Planning and Collision Avoidance of Two Limbs

The Primatech project is an effort to simulate an orangutan's ability to speak by use of American Sign Language (ASL). The ultimate goal of the Primatech project is to establish a permanent installation at Zoo Atlanta and maybe other locations. Primatech visitors can learn about Chantek (the orangutan in Zoo Atlanta) and experience what it is like to talk with him.

This mini-project deals with path planning for two arms. Instead of returning to a home position after each ASL sign, the arms should smoothly move from sign to sign. The problem with following the shortest path between signs is the possibility of the arms colliding. How can you plan a path between any two signs so that no part of one arm intersects with the other arm?

Your first task is to review the significant literature on path-planning and collision avoidance. Suggested domains include robotics and animation. Your final task is the writing of a reasonable proposal/design for a program which calculates a sequence of joint angles to get between any two ASL signs (arm configurations also in the form of joint angles).