/Joint-Space-SCA

Primary LanguageC++

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Corresponding video

Click the picture above to be redirected to the YouTube video explaining the contents of this repository. Paper reference will be added later.

Corresponding publication: https://ieeexplore.ieee.org/document/9345975

Steps to reproduce the results shown in the video:

  1. Create dataset of sampled postures (or use provided data) - folder dataset-creation
  2. Learn SCA model via SVM/NN (or use provided models) - folder sca-model-learning
  3. Launch Simulation - folder simulation

Instructions for each step are located in the folders. For any questions please contact Michael Koptev (mikhail.koptev AT epfl dot ch).