Approximating polyhedra with spheres for time-critical collision detection
ACM Transactions on Graphics (TOG)
Spatial Representation and Motion Planning
Spatial Representation and Motion Planning
Practical Motion Planning in Robotics: Current Approaches and Future Directions
Practical Motion Planning in Robotics: Current Approaches and Future Directions
Shadow geometry and occluding contours of generalized cylinders (artificial intelligence)
Shadow geometry and occluding contours of generalized cylinders (artificial intelligence)
Safe human-robot interaction based on dynamic sphere-swept line bounding volumes
Robotics and Computer-Integrated Manufacturing
Transitional or partnership human and robot collaboration for automotive assembly
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
Hebbian ensemble neural network for robot movement control
Optical Memory and Neural Networks
| Hi-index | 0.00 |
As the result of an increasing number of robots performing tasks in a range of human life activites, human–robot interaction has become a very active research field. Safety of people around robots is a major concern. This paper presents some research in this context: our aim is to avoid mechanical injure of people interacting with robots. We approach the collision detection problem in a scene with people and several moving robot arms. Fast collision detection for practical motion planning depends on an adequate spatial representation for the objects involved in the scene. The authors have previosly proposed a system that automatically generates a hierarchy of approximations for general objects. The spatial model has interesting properties and has been used in efficient collision detection algorithms between moving robots [8]. In spatial representations, there is a trade-off between generality and efficiency. Some existing approaches claim to be general but they are less efficient. In this paper, we present two extensions to the spatial model. First, the system can deal with a general class of objects, those that are composed of nonhomogeneous generalized cylinders. Secondly, a simple method for automatic converting from a polyhedral representation to such a generalized cylinder is presented. Therefore, we enhance the generality of the system but without compromising the efficiency. With these extensions virtually any object can be dealt with, and particularly those composing the human body.