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Fast Distance Computation for On-line Collision Detection with Multi-Arm Robots
Dominik Henrich , Xiaoqing Cheng

Abstract (english)
For the online collision detection with a multi-arm robot a fast method for computing the so-called collision vector is presented. Manipulators and obstacles are modelled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. On-line, the here introduced Dynamic Hierarchies are adjusted to the current arm configuration. A comparison with previous methods shows an increased acceleration of the computations.

Publication data

Year: 1992
Publication date: 12. May 1992
Source: IEEE International Conference on Robotics and Automation, Nizza, France, 12.-14. May 1992, pp. 2514-2519
Project: SKALP , CODET , PARO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1992a

BibTeX

@MISC{henrich1992a,
  TITLE             = "Fast Distance Computation for On-line Collision Detection with Multi-Arm Robots",
  AUTHOR            = "Henrich, Dominik and Cheng, Xiaoqing",
  YEAR              = "1992",
  JOURNAL           = "IEEE International Conference on Robotics and Automation, Nizza, France, 12.-14. May 1992, pp. 2514-2519",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1992a}",
}

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henrich1992a.Fast.Distance.Computation.for.Online.Collision.Detection.with.MultiArm.Robots.djvu   128K   english   DJVU   download preprint
henrich1992a.Fast.Distance.Computation.for.Online.Collision.Detection.with.MultiArm.Robots.pdf   68.7K   english   PDF   download preprint


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