Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes
作者： Chioniso Dube
DOI: 10.1109/AFRCON.2013.6757663
关键词:
摘要: This paper presents a self collision avoidance 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. distance between two computed used to generate free motion humanoid. Collisions avoided by adjusting joint angles colliding segments based on location points. case study dance test method. Self attained entire dance.
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