Klaus Steinbach, James Kuffner, Tamim Asfour, Rüdiger Dillmann. Efficient Collision and Self-Collision Detection for Humanoids Based on Sphere Trees Hierarchies. In 2006 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, December 4-6, 2006. pages 560-566, IEEE, 2006. [doi]
Abstract is missing.