2011 IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
DOI: 10.1109/iros.2011.6094611
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Real-time swept volume and distance computation for self collision detection

Abstract: We present a real-time self collision detection algorithm applicable for industrial and humanoid robots. The algorithm is based on computing the swept volumes of all bodies and checking them pairwise for collisions. The algorithm operates on joint angle intervals. Such, it does not only test a single or N intermediate configurations but assures safety of a whole movement. Key idea of the new swept volume computation is representing volumes as convex hulls extended by a buffer radius, so called sphere swept con… Show more

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Cited by 46 publications
(11 citation statements)
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“…There exists no previous work that can rigorously predict the set of future occupancies given an uncertain dynamic model of human motion. The mapping of uncertain joint angles to the occupancy of a kinematic chain has been considered in [28] in an overapproximative way. A nonformal approach to compute the set of future occupancies is described in [29], which considers the future occupancy of the human given some maximum joint velocities, where these velocities are assumed.…”
Section: Set-based Motion Predictionmentioning
confidence: 99%
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“…There exists no previous work that can rigorously predict the set of future occupancies given an uncertain dynamic model of human motion. The mapping of uncertain joint angles to the occupancy of a kinematic chain has been considered in [28] in an overapproximative way. A nonformal approach to compute the set of future occupancies is described in [29], which considers the future occupancy of the human given some maximum joint velocities, where these velocities are assumed.…”
Section: Set-based Motion Predictionmentioning
confidence: 99%
“…2(g). To the best of our knowledge, there exists only one approach that computes overapproximative occupancies of kinematic chains efficiently, which is that of Täubig et al [28]. Here, the occupancy of each link on a kinematic chain is represented as a sphere-swept volume (SSV), defined as the Minkowski sum of a convex hull of points with a zero-centered sphere.…”
Section: E Representation In Spacementioning
confidence: 99%
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