A New Library for Real-time Continuous Collision Detection

Holger Täubig, Udo Frese

In: Proceedings of the 7th German Conference on Robotics. German Conference on Robotics (ROBOTIK-2012) May 21-22 Munich Germany Seiten 108-112 VDE 2012.


We present the Kinematic Continuous Collision Detection Library (KCCD), a new library for real-time continuous col- lision detection for humanoid and industrial robots. The C++ library operates on joint state intervals. Such, it does not only test a single or N intermediate configurations but assures safety of a whole movement. The library uses sphere swept convex hulls (SSCH) as its volume representation, computes swept volumes and their distances for all body pairs of a robot, and provides an operation set that allows for a trade-off between accuracy and computation time. The paper gives an overview of the applied algorithm and describes basic features of the library, additionally provided configuration and visualization tools, as well as existing applications.

Taubig2012_ROBOTIK.pdf (pdf, 757 KB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence