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1 Using Motion Capture Data to Regenerate Operator’s Motions in a Simulator in Real Time Speaker : Po-Hung Lai Speaker : Po-Hung Lai Date :2009.10.2 Date :2009.10.2 Feng DUAN, Jeffrey Too Chuan TAN and Tamio ARAI
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Page 1: 1 Using Motion Capture Data to Regenerate Operator’s Motions in a Simulator in Real Time Speaker : Po-Hung Lai Date :2009.10.2 Feng DUAN, Jeffrey Too Chuan.

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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

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1.Introduction

Cell Production System

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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

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(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

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(4) (4) improvementimprovement

1.Introduction

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(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

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(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

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(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

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(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

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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

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3.Arithmetic Methods Used in This

Experiment

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3.Arithmetic Methods Used in This

Experiment

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3.Arithmetic Methods Used in This

Experiment(2) (2) Joint Angle Calculation Equations

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((3) Color filter Method3) Color filter Method

3.Arithmetic Methods Used in This

Experiment

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3.Arithmetic Methods Used in This

Experiment

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3.Arithmetic Methods Used in This

Experiment

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3.Arithmetic Methods Used in This

Experiment(4) (4) Noise Filter Method

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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.


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