Real-time collision detection based on one class SVM for safe movement of humanoid robot. Narukawa, K., Yoshiike, T., Tanaka, K., & Kuroda, M. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pages 791–796, November, 2017.
doi  abstract   bibtex   
In this paper, a new real-time collision detection method based on the one class support vector machine method for the safe movement of humanoid robots is proposed. To generate a representational model for collision detection requires only normal movement data and does not require collision data which is not easy to obtain. With this method, a real-time emergency stop function for humanoid robots is activated during collisions while walking quadruped. It is important for the operator who operates the robot remotely to be able to interpret collision information properly. To support the operator with information to understand situations, localization of a collision point is also implemented with a multi class support vector machine method.
@inproceedings{narukawa_real-time_2017,
	title = {Real-time collision detection based on one class {SVM} for safe movement of humanoid robot},
	doi = {10.1109/HUMANOIDS.2017.8246962},
	abstract = {In this paper, a new real-time collision detection method based on the one class support vector machine method for the safe movement of humanoid robots is proposed. To generate a representational model for collision detection requires only normal movement data and does not require collision data which is not easy to obtain. With this method, a real-time emergency stop function for humanoid robots is activated during collisions while walking quadruped. It is important for the operator who operates the robot remotely to be able to interpret collision information properly. To support the operator with information to understand situations, localization of a collision point is also implemented with a multi class support vector machine method.},
	booktitle = {2017 {IEEE}-{RAS} 17th {International} {Conference} on {Humanoid} {Robotics} ({Humanoids})},
	author = {Narukawa, K. and Yoshiike, T. and Tanaka, K. and Kuroda, M.},
	month = nov,
	year = {2017},
	keywords = {Collision avoidance, Data models, Humanoid robots, Legged locomotion, Robot sensing systems, Support vector machines, class SVM, class support vector machine method, collision avoidance, collision data, collision information, collision point, humanoid robot, humanoid robots, multiclass support vector machine method, normal movement data, real-time collision detection, real-time collision detection method, real-time emergency stop function, representational model, robot remotely, support vector machines},
	pages = {791--796}
}
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