human urdf 2010
TRANSCRIPT
H u m a n U R D F f o r- H u m a n R o b o t
S im u la t io n in R VIZ a n d G a z e b o
: P r e s e n t e r Ye o n J in
Le e
: Ad v is o r M a ja J M a t a r ić
: M e n t o r R o s s M e a d
Tig e r Wo o d s
F o u n d a t io n
In t e r a c t io n La b
U n iv e r s it y o f S o u t h e r n
C a lif o r n ia
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O u t lin e
In t r o d u c t io n
M o t iv a t io n a n d P r o je c t D e s c r ip t io n
Ap p r o a c h a n d P r o b le m s
R e s u lt a n d Ap p lic a t io n
C o n c lu s io n
2 0 1 0 : H R I Wo r k s h o p What Do Collaborations with the Arts Have to Say about HRI?
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In t r o d u c t io n
2 0 1 0 : H R I Wo r k s h o p What Do Collaborations with the Arts Have to Say about HRI?
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M o t iv a t io n a n d P r o je c t D e s c r ip t io n
2 !P R is c o m in g
…An d w e w a n t t o
- S im u la t e h u m a n r o b o t
in t e r a c t io n 3 - in d
v is u a liz a t io n e n v ir o n m e n t s
.s u c h a s R O S R VIZ a n d G a z e b o
P e r s o n U R D F n e e d e d t o
s im u la t e d if f e r e n t b o d y
m o v e m e n t s in o r d e r t o
e x p r e s s v a r ie t y o f
. e m o t io n s
2 0 1 0 : H R I Wo r k s h o p What Do Collaborations with the Arts Have to Say about HRI?
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Ap p r o a c h a n d M e t h o d s
( R O S U R D F U n if ie d R o b o t D e s c r ip t io n
)F o rm a t
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Ap p r o a c h a n d M e t h o d s
Kinetics of Human Motion
- Hanavan Model - Formulas for calculating moments of inertia
G.S.Nikolova, Y.E. Toshev 2007. Estimation of male and female body segment parameters of the Bulgarian population using a 16-segmental mathematical model. Journal of Biomechanics.
2 0 1 0 : H R I Wo r k s h o p What Do Collaborations with the Arts Have to Say about HRI?
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— Ap p r o a c h a n d M e t h o d s S t a g in g
Problem with Maya: conversion to .stl, triangular surface
2 0 1 0 : H R I Wo r k s h o p What Do Collaborations with the Arts Have to Say about HRI?
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R e s u lt a n d Ap p lic a t io n
Max. three degrees of freedom for each joint.
Head movement most versatile of all body movements.
2 0 1 0 : H R I Wo r k s h o p What Do Collaborations with the Arts Have to Say about HRI?
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R e s u lt a n d Ap p lic a t io n
Simulate interaction with PR2 in Gazebo
I see you…
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F in a l M o d e l w it h S k in Te x t u r e M a p p e d o n t o M e s h e s
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S p o n s o r s
B IG TH AN K YO U TO
, , , E r ic Wa d e a n d M a ja M a t a r ic R o s s M e a d
- ,D a v e F e il S e if e r
, H a r s h Va t h s a n g a m B liz z a r d
, ,E n t e r t a in m e n t a n d t h e R O S C o m m u n it y
.a n d f e llo w in t e r n s
P e o p le a t T ig e r Wo o d s F o u n d a t io n f o r t h e
f in a n c ia l , s u p p o r t a n d e n c o u r a g e m e n t a n d
f o r p e o p le a t In t e r a c t io n la b
. f o r t h e ir s u p p o r t a n d u n d e r s t a n d in g
2 0 1 0 : H R I Wo r k s h o p What Do Collaborations with the Arts Have to Say about HRI?
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S e le c t e d R e f e r e n c e s
• . . , . . 2 0 0 7 . G S N ik o lo v a Y E To s h e v E s t im a t io n o f m a le a n d
f e m a le b o d y s e g m e n t p a r a m e t e r s o f t h e B u lg a r ia n
1 6 - . p o p u la t io n u s in g a s e g m e n t a l m a t h e m a t ic a l m o d e l
.J o u r n a l o f B io m e c h a n ic s
• , . . 1 9 6 4 . H a n a v a n E P A m a t h e m a t ic a l m o d e l o f t h e h u m a n
. . - -6 4 -1 0 2 , -6 0 8 -4 6 3 . b o d y R e p o r t n o AM R L TR AD
: , -O h io A e r o s p a c e M e d ic a l R e s e a r c h La b o r a t o r ie s Wr ig h t
P a t t e r s o n A ir F o r c e B a s e
• . . .Vla d m ir M Z a t s io r s k y K in e t ic s o f H u m a n M o t io n
• . . G e o r g e B B r id g m a n H u m a n M a c h in e