Collision Detection Model Hexapod

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AsadAli
Posts: 36
Joined: 24 Dec 2014, 09:25

Collision Detection Model Hexapod

Post by AsadAli » 23 Mar 2015, 20:16

Is there any model available for collision detection of a hexapod in Vrep

coppelia
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Posts: 7388
Joined: 14 Dec 2012, 00:25

Re: Collision Detection Model Hexapod

Post by coppelia » 23 Mar 2015, 22:47

Hello,

what exactly do you mean with collision detection with the hexapod?
There is a collision detection module integrated in V-REP, so you could just use it. But since the hexapod model is dynamic, and shape penetrations tend to be avoided (by the generation of collision response forces), it might not be as trivial to just detect a collision (e.g. with a wall for instance). In that case, you could attach invisible shapes on top of the hexapod, that are slightly bigger than the functional shapes, and just do collision detection between those shapes and the rest of the environment.
Or, of course, simply use proximity sensors attached on top of the hexapod to detect almost collision, or use the minimum distance calculation module.

Cheers

AsadAli
Posts: 36
Joined: 24 Dec 2014, 09:25

Re: Collision Detection Model Hexapod

Post by AsadAli » 28 Mar 2015, 12:27

Hey I need model that can be used in motion planning for checking if we pass the hexapod from here wether it will collide or not.
Collision models like provided by PQP

coppelia
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Posts: 7388
Joined: 14 Dec 2012, 00:25

Re: Collision Detection Model Hexapod

Post by coppelia » 30 Mar 2015, 14:51

Please formulate a more precise question, I am not sure what exactly you mean with PQP and in general what you want to do.

Cheers

AsadAli
Posts: 36
Joined: 24 Dec 2014, 09:25

Re: Collision Detection Model Hexapod

Post by AsadAli » 30 Mar 2015, 15:10

Hey,
PQP is actually packages developed , that can be used in motion planning to check if that particular robot will collide with the obstacle or not without actually moving the robot to the particular coordinate.
This is the link of PQP:
http://gamma.cs.unc.edu/SSV/

coppelia
Site Admin
Posts: 7388
Joined: 14 Dec 2012, 00:25

Re: Collision Detection Model Hexapod

Post by coppelia » 30 Mar 2015, 15:15

V-REP offers that functionality through its collision detection module, and through its distance calculation module.

Cheers

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