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

— 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 decreases a range of movement of a joint, especially a compound joint, a joint between adjacent links and composed of 2 or 3 revolute joints whose axis intersect in a same point In order to gain enough a range of movement and safety margin, we developed hybrid approach that uses both table based collision checking for compound joints and online geometrical model checking with a simplified link shape for other joints We have experimentally evaluated our self collision detection system using a HR...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Kei Okada, Masayuki Inaba
• Keywords: Humanoid Robot, IROS 2006, Robotics, Safety Margin, Self Collision Detection