Real-time and Precise Self Collision Detection System for Humanoid Robots
Real-time and Precise Self Collision Detection System for Humanoid Robots
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DOI：
10.1109/robot.2005.1570256
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
K. Okada;M. Inaba;H. Inoue
中科院分区：
文献类型：
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作者：
K. Okada;M. Inaba;H. Inoue
在本文中，我们通过使用基于AABB的碰撞检测库实时检查多边形的数量并实时检查超过100个碰撞对。先前关于减少碰撞对或简化机器人形状的人形机器人的碰撞检测的研究缺陷，例如增加危险性或减少运动范围。但是，我们的自碰撞检测系统使用了尽可能多的详细几何模型和碰撞对。我们已经对人形机器人的实时自相撞检测应用进行了实验评估的碰撞检测库。该实验表明，基于AABBS的方法比基于常规OBB的方法快得多。最后，我们证明了实时碰撞检测和回避功能，如果使用HRP2类人形机器人发生自我碰撞，则会自动停止整个运动。
In this paper, we describe the real-time and precise self collision detection system that does not reduce the number of polygons and checks more than 100 collision pairs in real-time by using AABB based collision detection libraries. Previous researches on collision detection of humanoid robots which reduce collision pairs or simplify a shape of a robot has disadvantages such as increasing the dangerousness or decreasing range of movement. However our self collision detection system uses detailed geometric model and collision pairs as many as possible. We have experimentally evaluated collision detection libraries on a real-time self collision detection application of a humanoid robot. This experiment suggests that AABBs based method is much faster than conventional OBBs based method. Finally, we demonstrated real-time collision detection and avoidance function that automatically stops entire motion if self collision occurs using HRP2 humanoid robot.