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Using Motion Capture Data to Regenerate Operator’s

Motions in a Simulator in Real Time

Speaker : Po-Hung LaiSpeaker : Po-Hung Lai

Date :2009.10.2Date :2009.10.2

Feng DUAN, Jeffrey Too Chuan TAN and Tamio ARAI

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OutlineOutline1. Introduction

2.2. Experimental Setup and Simulator

3. Arithmetic Methods Used in This

Experiment

4. Experiment Results

5. Conclusions

33

1.Introduction

Cell Production System

44

Cell Production System

(1)(1) Due to the negative or zero growth of Due to the negative or zero growth of

the populationthe population

1.Introduction

55

(2) (2) To protect the operatorTo protect the operator

1.1.DuanDuan has utilized a has utilized a simulatorsimulator..

2.2.HenrichHenrich has proposed an intuitive has proposed an intuitive behavior model to realize a safe human-robot behavior model to realize a safe human-robot coexistence and cooperation.coexistence and cooperation.

(3) defect(3) defect

not real timenot real time

1.Introduction

66

(4) (4) improvementimprovement

1.Introduction

77

(5) (5) Use Direct Linear Transform Use Direct Linear Transform

defectdefect :Change light condition :Change light condition

improvementimprovement : Use special color filter method : Use special color filter method

(6) (6) Use special color filter methodUse special color filter method

defectdefect : detected 3D position whether : detected 3D position whether accurateaccurate

improvement improvement :joint-angle into Kinematic human :joint-angle into Kinematic human body simulator body simulator

1.Introduction

88

(7)(7) joint-angle into kinematic human joint-angle into kinematic human body body simulator simulator

defect : defect : not real timenot real time

improvement: improvement: Base on Optitrack Base on Optitrack

the operator’s motion in real timethe operator’s motion in real time

1.Introduction

99

(8) (8) Base on Optitrack the operator’s motionBase on Optitrack the operator’s motion

defect: defect: not conveniently and economicallynot conveniently and economically

improvement: improvement: AA human operator’s motions human operator’s motions

conveniently and economically.conveniently and economically.

A kinematic human body A kinematic human body simulator is developed.simulator is developed.

1.Introduction

1010

(9)(9) kinematic human body simulator kinematic human body simulator

defect: defect: capture errorcapture error

improvememt:improvememt: noise filter method noise filter method

1.Introduction

1111

2.2. Experimental Setup and Simulator

(1) Experimental Setup(1) Experimental Setup

START

Use two cameras to capture color make

Compute 2D Position

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2.2. Experimental Setup and Simulator

Use DLT Method

Use Color Filter Method

Use Noise Filter Method

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2.2. Experimental Setup and Simulator

Calibration Tool

Kinematics human body simulator

End

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3.Arithmetic Methods Used in This

Experiment(1) (1) Direct Linear Transformation (DLT) Method

1515

3.Arithmetic Methods Used in This

Experiment

1616

3.Arithmetic Methods Used in This

Experiment

1717

3.Arithmetic Methods Used in This

Experiment(2) (2) Joint Angle Calculation Equations

1818

((3) Color filter Method3) Color filter Method

3.Arithmetic Methods Used in This

Experiment

1919

3.Arithmetic Methods Used in This

Experiment

2020

3.Arithmetic Methods Used in This

Experiment

2121

3.Arithmetic Methods Used in This

Experiment(4) (4) Noise Filter Method

2222

4.Experiment Results

(1) (1) Overview of the Entire System

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(2) Measurement Accuracy

4.Experiment Results

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(3)(3) Regenerated Operator’s Motions

4.Experiment Results

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4.Experiment Results

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4.Experiment Results

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5.5. Conclusions

From these experimental results,

our monitoring system successfully regenerates the operator’s motions in the

simulator in real time.