Overview

This research aims at detecting and preventing self-collisions.  Self-collisions occur when one or more of the links of the robot collides with other links.    

Protective Convex Hulls

CAD model of head

Head Protective Convex Hull

Superimposed Models

Polyhedra Minimum-Distance Computation

Online Self-Collision Detection and Prevention

Online Joystick Control with Self-Collision Checking

Future Self-Collision Signals Robot to Safely Halt Motion

Papers and Videos