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Efficient Collision and Self-Collision Detection for Humanoids Based on Sphere Trees Hierarchies

Efficient Collision and Self-Collision Detection for Humanoids Based on Sphere Trees Hierarchies
Author:

K. Steinbach, J. Kuffner, T. Asfour, R. Dillmann 

Links:Efficient Collision and Self-Collision Detection for Humanoids Based on Sphere Trees Hierarchies
Source:

IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2006