REAL-TIME SELF COLLISION AND OBSTACLE AVOIDANCE
First Claim
1. A method for avoiding collision of a body segment in an articulated system, the method comprising:
- constructing a virtual surface surrounding an actual surface of the body segment;
monitoring a distance between the body segment and an unconnected structure;
detecting that the unconnected structure penetrates the virtual surface;
determining a redirected joint motion that prevents the unconnected structure from colliding with the body segment; and
redirecting the body segment based on the redirected joint motion to avoid colliding with the unconnected structure.
1 Assignment
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Accused Products
Abstract
A system, method, and computer program product for avoiding collision of a body segment with unconnected structures in an articulated system are described. A virtual surface is constructed surrounding an actual surface of the body segment. Distances between the body segment and unconnected structures are monitored. Responding to an unconnected structure penetrating the virtual surface, a redirected joint motion that prevents the unconnected structure from penetrating deeper into the virtual surface is determined. The body segment is redirected based on the redirected joint motion to avoid colliding with the unconnected structure.
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Citations
36 Claims
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1. A method for avoiding collision of a body segment in an articulated system, the method comprising:
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constructing a virtual surface surrounding an actual surface of the body segment; monitoring a distance between the body segment and an unconnected structure; detecting that the unconnected structure penetrates the virtual surface; determining a redirected joint motion that prevents the unconnected structure from colliding with the body segment; and redirecting the body segment based on the redirected joint motion to avoid colliding with the unconnected structure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A computer program product for avoiding collision of a body segment in an articulated system, the computer program product comprising a computer-readable storage medium containing executable computer program code for performing a method comprising:
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constructing a virtual surface surrounding an actual surface of the body segment; monitoring a distance between the body segment and an unconnected structure; detecting that the unconnected structure penetrates the virtual surface; determining a redirected joint motion that prevents the unconnected structure from colliding with the body segment; and redirecting the body segment based on the redirected joint motion to avoid colliding with the unconnected structure. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A system for avoiding collision of a body segment in an articulated system, the system comprising:
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a computer processor for executing executable computer program code; a computer-readable storage medium containing the executable computer program code for performing a method comprising; constructing a virtual surface surrounding an actual surface of the body segment; monitoring a distance between the body segment and an unconnected structure; detecting that the unconnected structure penetrates the virtual surface; determining a redirected joint motion that prevents the unconnected structure from colliding with the body segment; and redirecting the body segment based on the redirected joint motion to avoid colliding with the unconnected structure. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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Specification