Obstacle avoidance and real-time self-collision

摘要

To control the movement of the articulated rigid body systems and other robot in order to avoid in real time obstacles and challenges the self-collision. System for avoiding the collision with the non-connection structure of somites in [MEANS FOR SOLVING PROBLEMS] articulated system, method, and I disclose a computer program product. In response to the virtual surface surrounding the actual surface of the body section is constructed, the distance between the non-connection structure and body segment is monitored, non-connection structure is entering the virtual surface, not connected collision disconnected structure avoided by diverting articulation to prevent the structure from entering more deeply into the virtual surface is determined, the direction of the body section is changed based on the deflection articulation is. [Selection Figure Figure 4