Design of a Parallel Collision Detection Check VLSI Processor for Robot Manipulator. - Tadao Amada; Michitaka Kameyama; Tatsuo Higuchi 001 (J. Robotics Mechatronics, 1990)

Highly parallel collision detection processor for intelligent robots. - Michitaka Kameyama; Tadao Amada; Tatsuo Higuchi 001 (IEEE J. Solid State Circuits, 1992)