I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Locomotion with unit-modular reconfigurable robot
Locomotion with unit-modular reconfigurable robot
Approximating polyhedra with spheres for time-critical collision detection
ACM Transactions on Graphics (TOG)
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A random sampling scheme for path planning
International Journal of Robotics Research
Spheres, molecules, and hidden surface removal
Computational Geometry: Theory and Applications
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Local polyhedra and geometric graphs
Proceedings of the nineteenth annual symposium on Computational geometry
Preprocessing chains for fast dihedral rotations is hard or even impossible
Computational Geometry: Theory and Applications
Deformable spanners and applications
SCG '04 Proceedings of the twentieth annual symposium on Computational geometry
Collision detection for deforming necklaces
Computational Geometry: Theory and Applications - Special issue on the 18th annual symposium on computational geometry—SoCG2002
An efficient, error-bounded approximation algorithm for simulating quasi-statics of complex linkages
Proceedings of the 2005 ACM symposium on Solid and physical modeling
Local polyhedra and geometric graphs
Computational Geometry: Theory and Applications - Special issue on the 19th annual symposium on computational geometry - SoCG 2003
Deformable spanners and applications
Computational Geometry: Theory and Applications
Fast continuous collision detection for articulated models
SM '04 Proceedings of the ninth ACM symposium on Solid modeling and applications
Local polyhedra and geometric graphs
Computational Geometry: Theory and Applications - Special issue on the 19th annual symposium on computational geometry - SoCG 2003
Deformable spanners and applications
Computational Geometry: Theory and Applications
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The kinematic chain is a ubiquitous and extensively studied representation in robotics as well as a useful model for studying the motion of biological macro-molecules. Both fields stand to benefit from algorithms for efficient maintenance and collision detection in such chains. This paper introduces a novel hierarchical representation of a kinematic chain allowing for efficient incremental updates and relative position calculation. A hierarchy of oriented bounding boxes is superimposed on this representation, enabling high performance collision detection, self-collision testing, and distance computation. This representation has immediate applications in the field of molecular biology, for speeding up molecular simulations and studies of folding paths of proteins. It could be instrumental in path planning applications for robots with many degrees of freedom, also known as hyper-redundant robots. A comparison of the performance of the algorithm with the current state of the art in collision detection is presented for a number of benchmarks.