OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
A hierarchical method for real-time distance computation among moving convex bodies
Computational Geometry: Theory and Applications - special issue on virtual reality
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Motion Tracking: No Silver Bullet, but a Respectable Arsenal
IEEE Computer Graphics and Applications
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Collision Detection between Robot Arms and People
Journal of Intelligent and Robotic Systems
Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
IEEE Transactions on Robotics
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This paper presents a geometric representation for human operators and robotic manipulators, which cooperate in the development of flexible tasks. The main goal of this representation is the implementation of real-time proximity queries, which are used by safety strategies for avoiding dangerous collisions between humans and robotic manipulators. This representation is composed of a set of bounding volumes based on swept-sphere line primitives, which encapsulate their links more precisely than previous sphere-based models. The radius of each bounding volume does not only represent the size of the encapsulated link, but it also includes an estimation of its motion. The radii of these dynamic bounding volumes are obtained from an algorithm which computes the linear velocity of each link. This algorithm has been implemented for the development of a safety strategy in a real human-robot interaction task.