A model of the humanoid body for self collision detection based on elliptical capsules

Dube, Chioniso; Tsoeu, Mohohlo; Tapson, Jonathan

doi:10.1109/robio.2011.6181657

Cited by 9 publications

(12 citation statements)

References 12 publications

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“…The self collision detection method developed in our previous paper [6] is used to compute the collision distance between humanoid body segments and is briefly summarised here. For segments represented by two circular capsules, the critical points giving the shortest distance between the capsules axis are found using the common normal between the two axes.…”

Section: A Self Collision Detectionmentioning

confidence: 99%

“…For segments represented by two circular capsules, the critical points giving the shortest distance between the capsules axis are found using the common normal between the two axes. For two circular capsules, P and Q with axis having direction given by unit vectors u p and u q , the critical point p c , giving the shortest distance between the capsules is found as follows [6]:…”

Section: A Self Collision Detectionmentioning

confidence: 99%

“…Substituting the parametric equations into the ellipse equation gives a quadratic equation in λ [6]:…”

Section: A Self Collision Detectionmentioning

confidence: 99%

“…A self collision detection scheme for humanoids, based on elliptical capsules was developed in our previous paper [6]. (See Figure 1.)…”

Section: Introductionmentioning

confidence: 99%

“…A case study of human dance imitation is used to validate the self collision avoidance method in Section IV. An elliptical capsule as defined in [6], is as an elliptical cylinder capped by ellipsoids. A circular capsule is defined as a circular cylinder capped by spheres.…”

Section: Introductionmentioning

confidence: 99%

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Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes

Dube

2013

2013 Africon

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This paper presents a self collision avoidance scheme for humanoid robots using elliptical and circular capsules as collision bounding volumes. A capsule is defined as an elliptical or circular cylinder capped with ellipsoids or spheres respectively. The humanoid body is modeled using elliptical capsules, while the moving segments, i.e. arms and legs, of the humanoid are modeled using circular capsules. The self collision distance between two capsules is computed and used to generate self collision free motion of the humanoid. Collisions are avoided by adjusting the joint angles of the colliding segments based on the collision distance and the location of the collision points. A case study of a humanoid dance is used to test the self collision avoidance method. Self collision free motion is attained by the humanoid for the entire dance.

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Section: A Self Collision Detectionmentioning

confidence: 99%

Section: A Self Collision Detectionmentioning

confidence: 99%

“…Substituting the parametric equations into the ellipse equation gives a quadratic equation in λ [6]:…”

Section: A Self Collision Detectionmentioning

confidence: 99%

“…A self collision detection scheme for humanoids, based on elliptical capsules was developed in our previous paper [6]. (See Figure 1.)…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes

Dube

2013

2013 Africon

Self Cite

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Hierarchical structures for collision checking between virtual characters

Stüvel

Magnenat‐Thalmann

Thalmann

et al. 2014

Computer Animation & Virtual

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Simulating a crowded scene like a busy shopping street requires tight packing of virtual characters. In such cases, collisions are likely to occur, and the choice in collision detection shape will influence how characters are allowed to intermingle. Full collision detection is too expensive for crowds, so simplifications are needed. The most common simplification, the fixed-width, pose-independent cylinder, does not allow intermingling of characters, as it will either cause too much empty space between characters or undetected penetrations. As a possible solution to this problem, we introduce the bounding cylinder hierarchy (BCH), a bounding volume hierarchy that uses vertical cylinders as bounding shapes. Because the BCH is a generalization of the single cylinder, we expect that this representation can be easily integrated with existing crowd simulation systems. We compare our BCH with commonly used collision shapes, namely the single cylinder and oriented bounding box tree, in terms of query time, construction time, and represented volume. To get an indication of possible crowd densities, we investigate how close characters can be before collision is detected and finally propose a critical maximum depth for the BCH.

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Controlling Ocean One: Human–robot collaboration for deep‐sea manipulation

Brantner

Khatib

2020

Journal of Field Robotics

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Deploying robots to explore venues that are inaccessible to humans, or simply inhospitable, has been a longstanding ambition of scientists, engineers, and explorers across numerous fields. The deep sea exemplifies an environment that is largely uncharted and denies human presence. Central to exploration is the capacity to deliver dexterous robotic manipulation to this unstructured environment. Unmanned underwater vehicles (UUVs) are successful in providing passive solutions for observation and mapping but currently are far from capable of delivering human‐level dexterity. The ones providing manipulation typically are UUVs coupled with position‐controlled hydraulic arms using disjoint controllers for navigation and manipulation that require expert operators. Ocean One is a humanoid underwater robot designed specifically for underwater manipulation. In this paper, we present Ocean One's control architecture that, through a collaboration between this humanoid robot and a human pilot, enables the deployment of dexterous robotic manipulation to the deep sea. We provide detailed descriptions of this architecture's two main components: first, a whole‐body controller that creates functional autonomy by coordinating manipulation, posture, and constraint tasks, and second, a set of haptic and visual human interfaces that enable intimate interaction while avoiding micromanagement. We test the presented methods in simulation and validate them in pool experiments and in two field deployments. On its maiden mission into the Mediterranean Sea, Ocean One explored the Lune, a French naval vessel that sank in 1664 off the coast of Toulon, France. In its second expedition, Ocean One assisted human divers in investigating underwater volcanic structures at Santorini, Greece.

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A model of the humanoid body for self collision detection based on elliptical capsules

Cited by 9 publications

References 12 publications

Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes

Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes

Hierarchical structures for collision checking between virtual characters

Controlling Ocean One: Human–robot collaboration for deep‐sea manipulation

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