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Authors: Albert Hernansanz 1 ; Xavier Giralt 1 ; Alberto Rodriguez 2 and Josep Amat 3

Affiliations: 1 Research Group On Intelligent Robotics and Systems, Technical University of Catalonia, Spain ; 2 Robotics Institute, Carnegie Mellon University, United States ; 3 Institute of Robotics and Industrial Informatics, Technical University of Catalonia, Spain

Keyword(s): Collision detection, Proximity queries, Surgical application.

Related Ontology Subjects/Areas/Topics: Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation ; Telerobotics and Teleoperation

Abstract: This paper presents a robotic proximity query package (RPQ) as an optimization of the general collision library PQP (Proximity Query Package) for the detection of collisions and distance computation between open kinematic chains such as robotic arms. The performance of the optimizations to non specific collision query packages are explained and evaluated. Finally, a robotic assisted surgical application is presented which has been used as a test bed for the proximity package.

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Paper citation in several formats:
Hernansanz, A.; Giralt, X.; Rodriguez, A. and Amat, J. (2007). RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 59-66. DOI: 10.5220/0001629100590066

@conference{icinco07,
author={Albert Hernansanz. and Xavier Giralt. and Alberto Rodriguez. and Josep Amat.},
title={RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={59-66},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001629100590066},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Hernansanz, A.
AU - Giralt, X.
AU - Rodriguez, A.
AU - Amat, J.
PY - 2007
SP - 59
EP - 66
DO - 10.5220/0001629100590066
PB - SciTePress

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