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This paper suggests an efficient and robust self-collision detection for humanoid robots. The self-collision detection is essential and important for the safe and reliable operations of humanoid robots. In addition, low computation time of the self-collision detection must be guaranteed for realtime operation of the humanoid robots. The main concepts of this paper are based on simplifying the structure of the robot and reducing the computational cost using the eliminations of neighbor modules and collision-free modules. The operational reliance and efficiency of the suggested self-collision detection are checked by the practical simulation and experiment of the humanoid robot.