| Publication type: |
Article in Proceedings |
| Author: |
Holger Täubig, Berthold Bäuml, Udo Frese |
| Title: |
Real-time Continuous Collision Detection for Mobile Manipulators - A General Approach |
| Book / Collection title: |
Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), Osaka, Japan |
| Year published: |
2012 |
| Publisher: |
IEEE |
| Abstract: |
We present a general real-time continuous collision
detection algorithm for arbitrary systems of moving bodies
connected to each other in a kinematic tree of joints. Here
“joint” as a general term refers to the measured relative motion
between two bodies, which may be physically connected or not.
We provide a basic set of joints covering revolute and prismatic
joints, vehicle motion, and 3d positioning which is sufficient
for many applications in particular those involved with mobile
manipulators, e.g. industrial and humanoid robots, intelligent
transportation systems, or equipment at construction sites. Each
joint implementation either operates on a motion bound (an
interval covering the braking distance) or an uncertainty bound
(measurement error) and computes a volume that spatially
bounds the effect of that motion or uncertainty. Aggregating all
joints in a kinematic tree then yields a conservative continuous
collision detection for the complex and uncertain motion of the
whole system.
We further present an augmented reality visualization that
overlays the collision volumes into the live image of a camera,
which can be used to validate the collision model before bringing
a system into service. |
| Internet: |
http://www.informatik.uni-bremen.de/agebv/downloads/videos/taeubig2012_humanoids_video_final_large.mp4 |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/Taubig2012_HUMANOIDS.pdf |
| Keywords: |
collision detection mobile manipulator swept volume distance computation |
| Status: |
Reviewed |
| Last updated: |
04. 04. 2013 |
