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Publication type: Article in Proceedings
Author: Holger Täubig, Udo Frese
Title: A New Library for Real-time Continuous Collision Detection
Book / Collection title: Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012)
Page(s): 108 – 112
Year published: 2012
Publisher: VDE
Abstract: We present the Kinematic Continuous Collision Detection Library (KCCD), a new library for real-time continuous col- lision detection for humanoid and industrial robots. The C++ library operates on joint state intervals. Such, it does not only test a single or N intermediate configurations but assures safety of a whole movement. The library uses sphere swept convex hulls (SSCH) as its volume representation, computes swept volumes and their distances for all body pairs of a robot, and provides an operation set that allows for a trade-off between accuracy and computation time. The paper gives an overview of the applied algorithm and describes basic features of the library, additionally provided configuration and visualization tools, as well as existing applications.
Internet: http://www.dfki.de/cps/3d-collision-avoidance
PDF Version: http://www.informatik.uni-bremen.de/agebv/downloads/published/Taubig2012_ROBOTIK.pdf
Keywords: collsion detection 2D 3D
Status: Reviewed
Last updated: 05. 10. 2012

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