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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5526

Title: Model of the humanoid body for self collision detection based on elliptical capsules
Authors: Dube, C
Tsoeu, M
Tapson, J
Keywords: Self collision detection
Robotics
Robots
Humanoid body
Biomimetics
Self collision humanoid elliptical capsule
IEEE-ROBIO 2011
Issue Date: Dec-2011
Publisher: IEEE
Citation: Dube, C, Tsoeu, M and Tapson, J. 2011. Model of the humanoid body for self collision detection based on elliptical capsules. 2011 IEEE International conference on Robotics and Biomimetics (IEEE-ROBIO 2011), Phuket, Thailand, 7-11 December 2011
Series/Report no.: Workflow request;7682
Abstract: This paper presents a self collision detection scheme for humanoid robots using elliptical and circular capsules as bounding volumes. A capsule is defined as an elliptical or circular cylinder capped with ellipsoids or spheres respectively. The humanoid body is modeled using elliptical capsules, while the moving segments, i.e. arms and legs, of the humanoid are modeled using circular capsules. This collision detection model provides a good fit to the humanoid body shape while being simple to implement. A case study of the self collision free workspace of the humanoid arm is then presented to illustrate the effectiveness of the collision detection scheme.
Description: 2011 IEEE International conference on Robotics and Biomimetics (IEEE-ROBIO 2011), Phuket, Thailand, 7-11 December 2011
URI: http://hdl.handle.net/10204/5526
Appears in Collections:Advanced mathematical modelling and simulation
Mobile intelligent autonomous systems
General science, engineering & technology

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