James Kuffner  

Self-Collision Detection for Humanoids


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

Download related publications.

1997 - 2009 © James Kuffner, Jr.