Abstract
A collision free motion of a humanoid robot is perturbed when a balance controler is applied to make the robot stable, then the motion may cause collisions. This paper presents a collision avoidance algorithm of humanoid robots that can be used together with a balance controller. The proposed algorithm cancells the perturbations at shoulder joints, and the sweeping volume of an arm can be kept same even when a balance controller is applied to the robot. The prerequisite of the algorithm is that three axes of shoulder joints should pass through a point.
