Hisashi Sugiura, Michael Gienger, Herbert Janssen, Christian Goerick. Real-Time Self Collision Avoidance for Humanoids by means of Nullspace Criteria and Task Intervals. In 2006 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, December 4-6, 2006. pages 575-580, IEEE, 2006. [doi]
Abstract is missing.