간략화 된 모듈 기반의 휴머노이드 로봇을 위한 자기충돌 탐지

Simplified Module Based Self-collision Detection for Humanoid Robots

We are presenting the efficient and robust simplified module based self-collision detection of humanoid robot simulator. For safe and reliable operations of humanoid robot, the self-collision detection is essential and extremely important. The main methods of self-collision detection are inverse X-Y-Z fixed angles and module distance filtering (MDF). According to experiments on the humanoid robot simulator with the self-collision detection, we could have a confidence about the efficiency of the self-collision.