A New Library for Real-time Continuous Collision Detection

We present the Kinematic Continuous Collision Detection Library (KCCD), a new library for real-time continuous collision 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.