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

Volume

3

fYear

2002

fDate

2002

Firstpage

2265

Lastpage

2270

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013569

Filename

1013569