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

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dc.contributor.author Dube, C
dc.contributor.author Tsoeu, M
dc.contributor.author Tapson, J
dc.date.accessioned 2012-01-25T08:09:31Z
dc.date.available 2012-01-25T08:09:31Z
dc.date.issued 2011-12
dc.identifier.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 en_US
dc.identifier.uri http://hdl.handle.net/10204/5526
dc.description 2011 IEEE International conference on Robotics and Biomimetics (IEEE-ROBIO 2011), Phuket, Thailand, 7-11 December 2011 en_US
dc.description.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. en_US
dc.language.iso en en_US
dc.publisher IEEE en_US
dc.relation.ispartofseries Workflow request;7682
dc.subject Self collision detection en_US
dc.subject Robotics en_US
dc.subject Robots en_US
dc.subject Humanoid body en_US
dc.subject Biomimetics en_US
dc.subject Self collision humanoid elliptical capsule en_US
dc.subject IEEE-ROBIO 2011 en_US
dc.title Model of the humanoid body for self collision detection based on elliptical capsules en_US
dc.type Conference Presentation en_US
dc.identifier.apacitation Dube, C., Tsoeu, M., & Tapson, J. (2011). Model of the humanoid body for self collision detection based on elliptical capsules. IEEE. http://hdl.handle.net/10204/5526 en_ZA
dc.identifier.chicagocitation Dube, C, M Tsoeu, and J Tapson. "Model of the humanoid body for self collision detection based on elliptical capsules." (2011): http://hdl.handle.net/10204/5526 en_ZA
dc.identifier.vancouvercitation Dube 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 . en_ZA
dc.identifier.ris 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 - en_ZA


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