A model of the humanoid body for self collision detection based on elliptical capsules

Chioniso Dube; Mohohlo Tsoeu; Jonathan Tapson

doi:10.1109/ROBIO.2011.6181657

A model of the humanoid body for self collision detection based on elliptical capsules

Chioniso Dube, Mohohlo Tsoeu, Jonathan Tapson

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

10 Citations (Scopus)

Abstract

![CDATA[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.]]

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2011), December 7-11, 2011, Phuket, Thailand
Publisher	IEEE
Pages	2397-2402
Number of pages	6
ISBN (Print)	9781457721366
DOIs	https://doi.org/10.1109/ROBIO.2011.6181657
Publication status	Published - 2011
Event	IEEE International Conference on Robotics and Biomimetics - Duration: 7 Dec 2011 → …

Conference

Conference	IEEE International Conference on Robotics and Biomimetics
Period	7/12/11 → …

Access to Document

10.1109/ROBIO.2011.6181657

Cite this

@inproceedings{2d2ca85dc8d04a9eab2d0660576f188b,

title = "A model of the humanoid body for self collision detection based on elliptical capsules",

abstract = "![CDATA[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.]]",

author = "Chioniso Dube and Mohohlo Tsoeu and Jonathan Tapson",

year = "2011",

doi = "10.1109/ROBIO.2011.6181657",

language = "English",

isbn = "9781457721366",

pages = "2397--2402",

booktitle = "2011 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2011), December 7-11, 2011, Phuket, Thailand",

publisher = "IEEE",

note = "IEEE International Conference on Robotics and Biomimetics ; Conference date: 07-12-2011",

}

Dube, C, Tsoeu, M & Tapson, J 2011, A model of the humanoid body for self collision detection based on elliptical capsules. in 2011 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2011), December 7-11, 2011, Phuket, Thailand. IEEE, pp. 2397-2402, IEEE International Conference on Robotics and Biomimetics, 7/12/11. https://doi.org/10.1109/ROBIO.2011.6181657

A model of the humanoid body for self collision detection based on elliptical capsules. / Dube, Chioniso; Tsoeu, Mohohlo; Tapson, Jonathan.
2011 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2011), December 7-11, 2011, Phuket, Thailand. IEEE, 2011. p. 2397-2402.

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

TY - GEN

T1 - A model of the humanoid body for self collision detection based on elliptical capsules

AU - Dube, Chioniso

AU - Tsoeu, Mohohlo

AU - Tapson, Jonathan

PY - 2011

Y1 - 2011

N2 - ![CDATA[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.]]

AB - ![CDATA[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.]]

UR - http://handle.uws.edu.au:8081/1959.7/543479

UR - http://www.ieee-robio.org/2011/

U2 - 10.1109/ROBIO.2011.6181657

DO - 10.1109/ROBIO.2011.6181657

M3 - Conference Paper

SN - 9781457721366

SP - 2397

EP - 2402

BT - 2011 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2011), December 7-11, 2011, Phuket, Thailand

PB - IEEE

T2 - IEEE International Conference on Robotics and Biomimetics

Y2 - 7 December 2011

ER -

A model of the humanoid body for self collision detection based on elliptical capsules

Abstract

Conference

Access to Document

Other files and links

Fingerprint

Cite this