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A novel framework for manikin motion planning has been implemented to reduce the time needed to perform virtual ergonomic assessments of manual assembly sequences. The user feeds high level instructions into a hierarchical controller system. Depending on the state of the manikin and the objects in the environment, the controllers compute a sequence of low level instructions interpreted as path planning instances for the manikin. The result is automatically generated collision-free anddoi:10.1016/j.procir.2016.02.084 fatcat:usiaecxz7nbn5l63cgntlhvb3y