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Keywords
(4)
Collision Detection
Control Application
Convex Polyhedra
Humanoid Robot
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Path planning for mobile manipulation using probabilistic cell decomposition
Real-time obstacle avoidance for manipulators and mobile robots
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Self-Collision Detection and Prevention for Humanoid Robots
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Self-Collision Detection and Prevention for Humanoid Robots
(
Citations: 40
)
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James J. Kuffner Jr.
,
Koichi Nishiwaki
,
Satoshi Kagami
,
Yasuo Kuniyoshi
,
Masayuki Inaba
,
Hirochika Inoue
We present an ecient approach to self-collision detection suitable for complex articulated robots such as humanoids. Preventing self-collisions is vital for the safe operation of robots that generate body tra- jectories online. Our approach uses a fast distance determination method for
convex polyhedra
in order to conservatively guarantee that a given trajectory is free of self-collision. Experimental results using an on- line joystick
control application
for the
humanoid robot
\H7" demonstrate the feasibility and ee ctiveness of the method.
Conference:
International Conference on Robotics and Automation - ICRA
, pp. 2265-2270, 2002
DOI:
10.1109/ROBOT.2002.1013569
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)
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)
(
robotics.stanford.edu
)
(
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)
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Citation Context
(35)
...They range from collision detection methods [
1
], [2], [3] to reactive path-planning of safe trajectories and repulsion from potential obstacles [4], [5], [6]...
Alexander Dietrich
,
et al.
Extensions to reactive self-collision avoidance for torque and positio...
...Several strategies to avoid collisions for biped robots have been proposed, e. g. [
1
]‐[7]...
Markus Schwienbacher
,
et al.
Self-collision avoidance and angular momentum compensation for a biped...
...This property has a strong impact on the computation cost of numerical methods used to produce motions on the one hand and on collision detection complexity on the other hand [
9
]...
Nicolas Perrin
,
et al.
Approximation of feasibility tests for reactive walk on HRP-2
...[
3
] proposes a pattern generator which can stop walking safely when self-collisions are expected...
Fumio Kanehiro
,
et al.
Integrating geometric constraints into reactive leg motion generation
...Fig. 9. Geometric models of the 3D scanning system components each link, was proposed in [
6
]...
Alexandru Dumitrache
,
et al.
Collision and proximity avoidance for robust behaviour of real-time ro...
References
(11)
V-Clip: fast and robust polyhedral collision detection
(
Citations: 229
)
Brian Mirtich
Journal:
ACM Transactions on Graphics - TOG
, vol. 17, no. 3, pp. 177-208, 1998
Efficient Collision Detection for Animation and Robotics
(
Citations: 150
)
Ming Chieh Lin
Published in 1993.
OBBTree: A hierarchical structure for rapid interference detection
(
Citations: 806
)
Stefan Gottschalk
,
Ming C. Lin
,
Dinesh Manocha
Conference:
Annual Conference on Computer Graphics - SIGGRAPH
, pp. 171-180, 1996
Accelerated proximity queries between convex polyhedra by multi-level Voronoi marching
(
Citations: 51
)
Stephen A. Ehmann
,
Ming C. Lin
Conference:
International Conference on Intelligent Robots and Systems - IROS
, 2000
H-Walk: hierarchical distance computation for moving convex bodies
(
Citations: 51
)
Leonidas J. Guibas
,
David Hsu
,
Li Zhang
Conference:
Symposium on Computational Geometry - SOCG
, pp. 265-273, 1999
Order by:
Citations
(40)
Extensions to reactive self-collision avoidance for torque and position controlled humanoids
(
Citations: 1
)
Alexander Dietrich
,
Thomas Wimbock
,
Holger Taubig
,
Alin Albu-Schaffer
,
Gerd Hirzinger
Conference:
International Conference on Robotics and Automation - ICRA
, pp. 3455-3462, 2011
Self-collision avoidance and angular momentum compensation for a biped humanoid robot
Markus Schwienbacher
,
Thomas Buschmann
,
Sebastian Lohmeier
,
Valerio Favot
,
Heinz Ulbrich
Conference:
International Conference on Robotics and Automation - ICRA
, pp. 581-586, 2011
Approximation of feasibility tests for reactive walk on HRP-2
(
Citations: 3
)
Nicolas Perrin
,
Olivier Stasse
,
Florent Lamiraux
,
Eiichi Yoshida
Conference:
International Conference on Robotics and Automation - ICRA
, pp. 4243-4248, 2010
Integrating geometric constraints into reactive leg motion generation
(
Citations: 1
)
Fumio Kanehiro
,
Mitsuharu Morisawa
,
Wael Suleiman
,
Kenji Kaneko
,
Eiichi Yoshida
Conference:
International Conference on Intelligent Robots and Systems - IROS
, pp. 4069-4076, 2010
Collision and proximity avoidance for robust behaviour of real-time robot applications
Alexandru Dumitrache
,
Theodor Borangiu
,
Anamaria Dogar
Conference:
IEEE International Workshop on Robotics in Alpe-Adria-Danube Region - RAAD
, 2010