A Hybrid Approach to Practical Self Collision Detection System of Humanoid Robot

@article{Okada2006AHA,
  title={A Hybrid Approach to Practical Self Collision Detection System of Humanoid Robot},
  author={Kei Okada and Masayuki Inaba},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={3952-3957}
}
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 propose a practical and real-time self collision detection system for humanoid robots that satisfy both enough a range of movement and a safety margin. Previous researches usually add a safety margin around each link to cope with errors in both modeling and control. However this margin significantly… CONTINUE READING