Real-time self collision avoidance for humanoids by means of nullspace criteria and task intervals

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Volumn , Issue , 2006, Pages 575-580

  Sugiura, Hisashi ^a   Gienger, Michael ^a   Janssen, Herbert ^a   Goerick, Christian ^a  

^a HONDA RESEARCH INSTITUTE EUROPE GMBH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; INTELLIGENT ROBOTS; REDUNDANT MANIPULATORS; ROBOTICS; TRAJECTORIES;

COLLISION FREE MOVEMENT; DYNAMICAL CONSTRAINTS; HUMANOID ROBOT; HUMANOID ROBOTS; INDIRECT METHODS; INTERNATIONAL CONFERENCES; JOINT CENTER; JOINT SPACE; POTENTIAL FUNCTIONS; REAL TIME INTERACTIONS; REDUNDANT ROBOTS; SMOOTH TRAJECTORIES; TARGET POSITIONING; TRAJECTORY GENERATION METHOD; VIRTUAL FORCES;

ROBOTS;

EID: 48149110012     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2006.321331     Document Type: Conference Paper

References (14)

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