Cart (Loading....) | Create Account
Close category search window

Module-based efficient self-collision detection method for humanoid robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hwan-Joo Kwak ; Dept. of Electr. Eng., Korea Univ., Seoul, South Korea ; Gwi-Tae Park

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.

Published in:

Research and Development (SCOReD), 2009 IEEE Student Conference on

Date of Conference:

16-18 Nov. 2009

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.