Reconstructing human-like movement from experimental end effector timeseries using the ROS framework
Master's Thesis Project | ROS2 Jazzy | Inverse Kinematics & Time-Series Analysis
In this project I created a biomechanically inspired model of the human arm within ROS2 Jazzy and a Jacobian Inverse Kinematics solver. Then recorded timeseries of human reaching movements were taken as input and possible human-like paths are constructed from these. The resulting paths were evaluated using the Normalized Jerk Score as well as with the elbow angle. Resulting data was visually prepared.
The Repo is devided up into 3 parts:
- ros2_ws - a ROS2 Jazzy workspace that includes the Robot Model as well as the Solver
- calibration - standalone code to calculate some calibration data from the input timeseries
- eval - data visualization & interpretation