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ICRA
2002
IEEE

Self-Collision Detection and Prevention for Humanoid Robots

9 years 6 months ago
Self-Collision Detection and Prevention for Humanoid Robots
We present an efficient approach to self-collision detection suitable for complex articulated robots such as humanoids. Preventing self-collisions is vital for the safe operation of robots that generate body trajectories online. Our approach uses a fast distance determination method for convex polyhedra in order to conservatively guarantee that a given trajectory is free of self-collision. Experimental results using an online joystick control application for the humanoid robot “H7” demonstrate the feasibility and effectiveness of the method.
James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Ka
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Kagami, Yasuo Kuniyoshi, Masayuki Inaba, Hirochika Inoue
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