Chioniso Dube

About

Chioniso Dube is a robotics researcher whose work focuses on path planning, collision detection, and stability analysis for mobile and humanoid robots. Her key contributions include developing an RRT-based path planning algorithm for mobile robots navigating 3D surface meshes, which has applications in fields ranging from robotics to computational biology and aerospace. Dube also pioneered the use of elliptical and circular capsules as bounding volumes for self-collision detection in humanoid robots, a method that models the humanoid body more accurately than traditional approaches. Her research on tip-over stability of tracked mobile manipulators, validated through experimental work, addresses critical safety concerns in mobile robotics. With her most-cited paper garnering 11 citations, Dube's work has been presented at notable venues including the Robotics and Mechatronics Symposium (ROBMECH) in South Africa. Her innovative approaches to modeling and collision avoidance have advanced the practical deployment of humanoid and mobile robots in real-world environments.

Research Focus

Key Achievements

Top Papers

1. 1
   RRT based path planning for mobile robots on a 3D surface mesh

   11 citations · 2021
2. 2
   A model of the humanoid body for self collision detection based on elliptical capsules

   9 citations · 2011
3. 3
   Kinematics design and human motion transfer for a humanoid service robot arm

   7 citations · 2009
4. 4
   Experimental validation of tip over stability of a tracked mobile manipulator

   4 citations · 2013
5. 5
   Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes

   3 citations · 2013
6. 6
   Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator

   2 citations · 2011

Key Collaborators

Contact & Links