NDLI: A Hybrid Approach to Practical Self Collision Detection System of Humanoid Robot

Content Provider	IEEE Xplore Digital Library
Author	Okada, K. Inaba, M.
Copyright Year	2006
Description	Author affiliation: Graduate Sch. of Inf. Sci. & Technol., Tokyo Univ. (Okada, K.; Inaba, M.)
Abstract	Online self collision detection system for humanoid robots is an essentially important function for developing sensor based behaviors without worrying about breaking hardware. In this paper, we propose a practical and real-time self collision detection system for humanoid robots that satisfy both enough a range of movement and a safety margin. Previous researches usually add a safety margin around each link to cope with errors in both modeling and control. However this margin significantly decreases a range of movement of a joint, especially a compound joint, a joint between adjacent links and composed of 2 or 3 revolute joints whose axis intersect in a same point. In order to gain enough a range of movement and safety margin, we developed hybrid approach that uses both table based collision checking for compound joints and online geometrical model checking with a simplified link shape for other joints. We have experimentally evaluated our self collision detection system using a HRP2-JSK humanoid robot. Our demonstration shows that the robot automatically stops its motion when self collision occurs
Starting Page	3952
Ending Page	3957
File Size	859512
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281830
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Safety Robot sensing systems Hardware Error correction Shape Automatic control Intelligent robots Information science Sensor systems
Content Type	Text
Resource Type	Article

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