An Accurate and Computationally Efficient Method for Whole-Body Human Modeling with Applications in HRI
Interactive robots are required to have minimal footprint on the shop floor and to be able to work in constrained areas while ensuring the safety of the humans. To this end, modeling of an unstructured environment including the humans is an indispensable part of the online control schemes deployed in such robots. In this regard, a new approach is proposed for generating an efficient model of the human body. This model takes advantage of superquadric functions to represent the human body more realistically than using primitive shapes, while offering minimal computational complexity and simplicity of further computations in comparison to the existing articulated models. This approach is also capable of incorporating various body postures and arbitrary arm configurations in the model. In addition, a new and intelligent sensory system, called floor mat, is introduced which can significantly contribute to generation of the proposed model, in a timely manner. The integration of the floor mat in a multi-sensory system for obtaining all required data for rendering the real-time 3D human model is then discussed. The use of superquadric-based human model in conjunction with the proposed sensing techniques provides an accurate, yet computationally efficient solution for safe humanrobot interactions (HRI).
Nima Najmaei Mehrdad R. Kermani
Department of Electrical and Computer Engineering at the University of Western Ontario,London,ON,Canada
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1291-1296
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）