| Publication type: |
Article in Proceedings |
| Author: |
Holger Täubig, Berthold Bäuml, Udo Frese |
| Title: |
Real-time Swept Volume and Distance Computation for Self Collision Detection |
| Book / Collection title: |
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, California, USA |
| Year published: |
2011 |
| Publisher: |
IEEE |
| 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 compu-
tation is representing volumes as convex hulls extended by a
buffer radius, so called sphere swept convex hulls (SSCH). This
leads to tight and compact bounding volumes. The operation
set available to model the different joints is strictly conservative
and allows for a trade-off between accuracy and computation
time. During a configurable timespan the algorithm updates a
table of pairwise distances and thus can guarantee hard real-
time. It is applied on DLR’s humanoid Justin in a sports robotic
scenario, where also accuracy and computational performance
is evaluated (0.4ms, INTEL T2500@2GHz). |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/taeubig_iros_11.pdf |
| Keywords: |
collision detection humanoid robot swept volume distance computation |
| Note / Comment: |
(Best Student Paper Award Finalist) |
| Status: |
Reviewed |
| Last updated: |
29. 11. 2011 |
