A system, method, and computer program product for avoiding collision of a body segment with unconnected structures in an articulated system are described. A virtual surface is constructed surrounding an actual surface of the body segment. Distances between the body segment and unconnected structures...http://www.google.es/patents/US8170287?utm_source=gb-gplus-sharePatente US8170287 - Real-time self collision and obstacle avoidance
