Dube, CTsoeu, MTapson, J2012-01-252012-01-252011-12Dube, 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 2011http://hdl.handle.net/10204/55262011 IEEE International conference on Robotics and Biomimetics (IEEE-ROBIO 2011), Phuket, Thailand, 7-11 December 2011This 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.enSelf collision detectionRoboticsRobotsHumanoid bodyBiomimeticsSelf collision humanoid elliptical capsuleIEEE-ROBIO 2011Conference PresentationDube, C., Tsoeu, M., & Tapson, J. (2011). Model of the humanoid body for self collision detection based on elliptical capsules. IEEE. http://hdl.handle.net/10204/5526Dube, C, M Tsoeu, and J Tapson. "Model of the humanoid body for self collision detection based on elliptical capsules." (2011): http://hdl.handle.net/10204/5526Dube C, Tsoeu M, Tapson J, Model of the humanoid body for self collision detection based on elliptical capsules; IEEE; 2011. http://hdl.handle.net/10204/5526 .TY - Conference Presentation AU - Dube, C AU - Tsoeu, M AU - Tapson, J AB - 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. DA - 2011-12 DB - ResearchSpace DP - CSIR KW - Self collision detection KW - Robotics KW - Robots KW - Humanoid body KW - Biomimetics KW - Self collision humanoid elliptical capsule KW - IEEE-ROBIO 2011 LK - https://researchspace.csir.co.za PY - 2011 T1 - Model of the humanoid body for self collision detection based on elliptical capsules TI - Model of the humanoid body for self collision detection based on elliptical capsules UR - http://hdl.handle.net/10204/5526 ER -