<p>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.</p>
申请公布号
WO2009055707(A1)
申请公布日期
2009.04.30
申请号
WO2008US81171
申请日期
2008.10.24
申请人
HONDA MOTOR CO., LTD.;DARIUSH, BEHZAD;ZHU, YOUDING;FUJIMURA, KIKUO