The skeleton algorithm for self-collision avoidance of a humanoid manipulator - De Santis, A.; Albu-Schaffer, A.; Ott, C.; Siciliano, B.; Hirzinger, G. (2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007)
Keywords: Arm; Collision avoidance; Control systems; Humanoid robots; Index Terms; Kinematics; Manipulators; Motion control; Reactive control; Robot sensing systems; Robotics and automation; Self-collision avoidance; Skeleton