Self-collision detection and prevention for humanoid robots
James Kuffner, Keiji Nishiwaki, S. Kagami, Yasuo Kuniyoshi, Masayuki Inaba, Hiroyuki Inoue · 2003
We present an 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.