human urdf 2010

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

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

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


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In t r o d u c t io n


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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


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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.


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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


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Max. three degrees of freedom for each joint.

Head movement most versatile of all body movements.


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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

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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

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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


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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

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. . - -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

P le a s e a d d r e s s

f u r t h e r in q u ir ie s t o

yg lee@berke ley.edu.

Q & A

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