Efficient Collision Detection Algorithm for Space Reconfigurable Integrated Leg-Arm Robot

被引：0

作者：

Ma, Jinyu ^{[1
]}

Zhuang, Xinghan ^{[1
]}

Zi, Peijin ^{[1
]}

Zhang, Tao ^{[1
]}

Zhang, Wuxiang ^{[1
]}

Xu, Kun ^{[1
]}

Ding, Xilun ^{[1
]}

机构：

[1] Beihang Univ, Sch Mech Engn & Automat, Beijing 102206, Peoples R China

来源：

2024 IEEE 19TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS, ICIEA 2024 | 2024年

基金：

中国国家自然科学基金;

关键词：

Collision Detection; Space Reconfigurable Integrated Leg-Arm Robot; Bounding Volume Hierarchy (BVH);

D O I：

10.1109/ICIEA61579.2024.10665265

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to improve the safety and efficiency of space reconfigurable integrated leg-arm robot where performing space missions, this paper proposes an efficient collision detection algorithm based on bounding volume hierarchy (Bounding Volume Hierarchy, BVH). This algorithm effectively identifies and handles potential collisions between the robot and external obstacles as well as the robot's own components by building a hierarchical collision detection model. The algorithm was verified using the MuJoCo simulation platform. In addition, this article also discusses in detail the construction method of the collision detection model and its application in robot operation, including collision detection with obstacles and self-collision detection.

引用

页数：6

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