Title :
Self-collision detection and prevention for humanoid robots
Author :
Kuffner, James ; Nishiwaki, Koichi ; Kagami, Satoshi ; Kuniyoshi, Yasuo ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Dept. of Mechano-Informatics, Univ. of Tokyo, Japan
Abstract :
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
Keywords :
collision avoidance; computational geometry; legged locomotion; H7 robot; body trajectories generation; complex articulated robots; convex polyhedra; fast distance determination method; humanoid robots; online joystick control; self-collision detection; self-collision prevention; Computational geometry; Humanoid robots; Humans; Information science; Injuries; Interference; Leg; Manipulators; Service robots; Solid modeling;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013569
