Real-time (self)-collision avoidance task on a hrp-2 humanoid robot.

Olivier Stasse Adrien Escande Nicolas Mansard Sylvain Miossec Paul Evrard Abderrahmane Kheddar Real-time (self)-collision avoidance task on a hrp-2 humanoid robot. 3200-3205 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543698 conf/icra/2008 db/conf/icra/icra2008.html#StasseEMMEK08