Human URDF for Human-Robot Simulation in RVIZ and Gazebo Presenter: Yeon Jin Lee Advisor: Maja J Matarić Mentor: Ross Mead...
Outline <ul><li>Introduction </li></ul><ul><li>Motivation and Project Description </li></ul><ul><li>Approach and Problems ...
Introduction
Motivation and Project Description <ul><li>PR2 is coming! </li></ul><ul><li>And we want to … </li></ul><ul><li>Simulate hu...
Approach and Methods <ul><li>ROS URDF (Unified Robot Description Format) </li></ul>
Approach and Methods Kinetics of Human Motion -  Hanavan Model -  Formulas for calculating moments of inertia G.S.Nikolova...
Approach and Methods — Staging Problem with Maya: conversion to .stl, triangular surface
Result and Application Max. three degrees of freedom for each joint. Head movement most versatile of all body movements.
Result and Application Simulate interaction with PR2 in Gazebo I see you…
Final Model with Skin Texture Mapped onto Meshes
Sponsors <ul><li>BIG THANK YOU TO </li></ul><ul><li>Eric Wade, and Maja Mataric, Ross Mead, Dave Feil-Seifer, </li></ul><u...
Selected References <ul><li>G.S. Nikolova, Y.E. Toshev 2007. Estimation of male and female body segment parameters of the ...
Please address further inquiries to [email_address] . Q & A For detailed log, visit robotics.usc.edu/~yglee/color.html
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Human Urdf 2010

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Final Presentation to the lab on Person URDF. 8/2/10

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  • Name, School, Major, Hobbies.
  • My research project was to make a person model that can be used for simulating human-robot interaction in 3d visualization environments such as RVIZ and Gazebo. And the model is primarily intended for interaction with PR2, and therefore must have a PR2-detectable facial features such as eyes and lips. The human model must also move in versatile ways to convey various emotions via body language.
  • I used Unified Robot Description Format (URDF), which is an XML format for representing a robot model. And I Researched Anthropometric data, and the degrees of freedom for each human joint .
  • Eventually I decided to use the data from a paper by Nikolova and Toshev on anthropometric data of Bulgarian population. I also used a book by Zatsiorsky called Kinetics of Human Motion. It lists different human models that use simple geometric shapes. I decided to use the Hanavan model, which is basically the wooden mannequin that animators reference while doing figure drawing. I chose the hanavan model because it was both simple to simulate since it’s just made up of cylinders and ellipsoids and it also incorporated all the range of motions I needed my model to do. I also used the formulas in the Zatsiorsky to calculate moments of inertia.
  • In order to realistically depict a human model, I replaced cylinders with meshes I made in Maya, the 3-d modeling software. It was tricky to convert maya binary files to ROS-friendly STL and COLLADA files, but I eventually found a plug-in called COLLDA MAYA that allowed me to export .mb files into .dae or .stl files. But this export is not perfect. In the process I lost UV MAPPING of the face. (explain UV MAPPING) And also I lost the smoothness of the surfaces. So I would recommend modeling with Blender in the future. But this export is not perfect. In the process I lost UV MAPPING of the face. (explain UV MAPPING) And also I lost the smoothness of the surfaces. So I would recommend modeling with Blender in the future.
  • There are maximum of three degrees of freedom for each joint. I mainly used the revolute joint that spans 180 degrees. The head movement is most versatile because you can convey lot of information just by moving the head. In order to increase degrees of freedom I chained joints with virtual links and divided the neck portion into three links to more accurately portray the head movement. (exmples?)
  • My model is available to be used for simulation in both RVIZ and Gazebo for HRI purposes. It will also be made available in ROS repositories for human simulation. Another venue for improvement is taking Harsh’s project that collects data from the subject strapped to the motion capture system, and importing that data in to xyz, rpy, and inertia fields of my URDF, and visualizing the data on my model.  
  • Go PEOPLE BY PEOPLE.
  • Human Urdf 2010

    1. 1. Human URDF for Human-Robot Simulation in RVIZ and Gazebo Presenter: Yeon Jin Lee Advisor: Maja J Matarić Mentor: Ross Mead Tiger Woods Foundation Interaction Lab University of Southern California
    2. 2. Outline <ul><li>Introduction </li></ul><ul><li>Motivation and Project Description </li></ul><ul><li>Approach and Problems </li></ul><ul><li>Result and Application </li></ul><ul><li>Conclusion </li></ul>
    3. 3. Introduction
    4. 4. Motivation and Project Description <ul><li>PR2 is coming! </li></ul><ul><li>And we want to … </li></ul><ul><li>Simulate human-robot interaction in 3-d visualization environments such as ROS RVIZ and Gazebo. </li></ul><ul><li>Person URDF needed to simulate different body movements in order to </li></ul><ul><li>express variety of emotions. </li></ul>
    5. 5. Approach and Methods <ul><li>ROS URDF (Unified Robot Description Format) </li></ul>
    6. 6. Approach and Methods 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.
    7. 7. Approach and Methods — Staging Problem with Maya: conversion to .stl, triangular surface
    8. 8. Result and Application Max. three degrees of freedom for each joint. Head movement most versatile of all body movements.
    9. 9. Result and Application Simulate interaction with PR2 in Gazebo I see you…
    10. 10. Final Model with Skin Texture Mapped onto Meshes
    11. 11. Sponsors <ul><li>BIG THANK YOU TO </li></ul><ul><li>Eric Wade, and Maja Mataric, Ross Mead, Dave Feil-Seifer, </li></ul><ul><li>Harsh Vathsangam, Blizzard Entertainment, and the ROS Community, </li></ul><ul><li>and fellow interns. </li></ul><ul><li>People at Tiger Woods Foundation for the financial support and encouragement, and for people at Interaction lab </li></ul><ul><li>for their support and understanding. </li></ul>
    12. 12. Selected References <ul><li>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. </li></ul><ul><li>Hanavan, E.P. 1964. A mathematical model of the human body. Report no. AMRL-TR-64-102, AD-608-463. Ohio:Aerospace Medical Research Laboratories, Wright-Patterson Air Force Base </li></ul><ul><li>Vladmir M. Zatsiorsky. Kinetics of Human Motion. </li></ul><ul><li>George B. Bridgman. Human Machine </li></ul>
    13. 13. Please address further inquiries to [email_address] . Q & A For detailed log, visit robotics.usc.edu/~yglee/color.html

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