Real-Time Self-Collision Avoidance Using RoBE for Human-Friendly Robot
人間協調型ロボットにおけるRoBEを用いた実時間自己衝突回避

Fumi SETO, Kazuhiro KOSUGE, Yasuhisa HIRATA
2006 Transactions of the Japan Society of Mechanical Engineers Series C  
doi:10.1299/kikaic.72.1826 fatcat:fzo4pct5hvgg3lhc43mpfglyju