A model of the humanoid body for self collision detection based on elliptical capsules
作者： Chioniso Dube , Mohohlo Tsoeu , Jonathan Tapson
DOI: 10.1109/ROBIO.2011.6181657
关键词: Collision avoidance 、 Ellipsoid 、 Engineering 、 Robotics 、 Collision detection 、 Workspace 、 Humanoid robot 、 Cylinder 、 Computer vision 、 Artificial intelligence 、 Robot
摘要: This paper presents a self collision detection scheme for humanoid robots using elliptical and circular capsules as bounding volumes. A capsule is defined an or cylinder capped with ellipsoids spheres respectively. The body modeled capsules, while the moving segments, i.e. arms legs, of are capsules. model provides good fit to shape being simple implement. case study free workspace arm then presented illustrate effectiveness scheme.
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