Self-Collision Detection and Prevention for Humanoid Robots

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 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.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Kagami, Yasuo Kuniyoshi, Masayuki Inaba, Hirochika Inoue
• Keywords: Complex Articulated Robots, Distance Determination Method, ICRA 2002, Online Joystick Control, Robotics