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 ...
James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Ka...
—Although fall is a rare event in the life of a humanoid robot, we must be prepared for it because its consequences are serious. In this paper we present a fall strategy which ra...
— A motion planner of emergency stop must make an operating humanoid robot to a stationary state under the emergency signal. It plays an important role in prevention of falling o...