The skeleton algorithm for self-collision avoidance of a humanoid manipulator

@article{Santis2007TheSA,
  title={The skeleton algorithm for self-collision avoidance of a humanoid manipulator},
  author={Aurora De Santis and Alin O. Albu-Schaffer and Ch. Ott and Bruno Siciliano and Gerd Hirzinger},
  journal={2007 IEEE/ASME international conference on advanced intelligent mechatronics},
  year={2007},
  pages={1-6}
}
For use in unstructured domains, highly redundant multi-arm robotic systems need both deliberative and reactive control schemes, in order to safely interact with the environment. The problem of collisions is crucial. A robust reactive algorithm, named the "skeleton algorithm", is proposed for the real-time generation of self-collision avoidance motions, where only proprioceptive sensory data are needed. The algorithm is applied to the DLR humanoid manipulator Justin, and a joint-torque control… CONTINUE READING
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