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 ...
James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Ka...
— Online self collision detection system for humanoid robots is an essentially important function for developing sensor based behaviors without worrying about breaking hardware. ...
— In this paper, we describe the real-time and precise self collision detection system that does not reduce the number of polygons and checks more than 100 collision pairs in rea...