├── Exoskeleton3DOF_URDFmodel ├── ExoskeletonURDFmodel.urdf ├── meshes │ ├── sim_leftleg_prt.stl │ ├── sim_rightleg_prt.stl │ └── sim_torso_prt.stl └── model.config ├── Human48DOF_URDFmodel ├── HumanURDFmodel.urdf └── model.config ├── HumanExoskeleton_SDFModel ├── HumanExoskeletonSDFmodel.sdf ├── init │ ├── gazebo_head.ini │ ├── gazebo_leftarm.ini │ ├── gazebo_leftleg.ini │ ├── gazebo_rightarm.ini │ ├── gazebo_rightleg.ini │ └── gazebo_torso.ini └── model.config ├── README.md └── misc ├── CADtoURDF.pdf └── HumanExoskeletonSDF.png /Exoskeleton3DOF_URDFmodel/ExoskeletonURDFmodel.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | -------------------------------------------------------------------------------- /Exoskeleton3DOF_URDFmodel/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | ExoskeletonURDFmodel 4 | 5 | 1.0 6 | ExoskeletonURDFmodel.urdf 7 | 8 | 9 | Maria Lazzaroni 10 | maria.lazzaroni@iit.it 11 | 12 | 13 | 14 | Model for a simple three link exoskeleton model. 15 | 16 | 17 | -------------------------------------------------------------------------------- /Human48DOF_URDFmodel/HumanURDFmodel.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 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1193 | 1194 | 1195 | 1196 | 1197 | 1198 | 1199 | 1200 | 1201 | 1202 | 1203 | 1204 | 1205 | 1206 | 1207 | 1208 | 1209 | 1210 | 1211 | 1212 | 1213 | 1214 | 1215 | 1216 | 1217 | 1218 | 1219 | 1220 | 1221 | 1222 | 1223 | 1224 | 1225 | 1226 | 1227 | 1228 | 1229 | 1230 | 1231 | 1232 | 1233 | 1234 | 1235 | 1236 | 1237 | 1238 | 1239 | 1240 | 1241 | 1242 | 1243 | 1244 | 1245 | 1246 | 1247 | 1248 | 1249 | 1250 | 1251 | 1252 | 1253 | 1254 | 1255 | 1256 | 1257 | 1258 | 1259 | 1260 | 1261 | 1262 | 1263 | 1264 | 1265 | 1266 | 1267 | 1268 | 1269 | 1270 | 1271 | 1272 | 1273 | 1274 | 1275 | 1276 | 1277 | 1278 | 1279 | 1280 | 1281 | 1282 | 1283 | 1284 | 1285 | 1286 | 1287 | 1288 | 1289 | 1290 | 1291 | 1292 | 1293 | 1294 | 1295 | 1296 | 1297 | 1298 | 1299 | 1300 | 1301 | 1302 | 1303 | 1304 | 1305 | 1306 | 1307 | 1308 | 1309 | 1310 | -------------------------------------------------------------------------------- /Human48DOF_URDFmodel/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | HumanURDFmodel 4 | 5 | 1.0 6 | HumanURDFmodel.urdf 7 | 8 | 9 | Maria Lazzaroni 10 | maria.lazzaroni@iit.it 11 | 12 | 13 | 14 | Model for a simple three link exoskeleton model. 15 | 16 | 17 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/HumanExoskeletonSDFmodel.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | model://Human48DOF_URDFmodel 6 | 0.0 0 0 0 0 0 7 | 8 | 9 | model://Exoskeleton3DOF_URDFmodel 10 | -0.11 -0.2 0.1 0 0 1.570796327 11 | 12 | 13 | 14 | ExoskeletonURDFmodel::ExoTorso 15 | HumanURDFmodel::T8 16 | 17 | 18 | 19 | 20 | ExoskeletonURDFmodel::ExoLeftLeg 21 | HumanURDFmodel::LeftUpperLeg 22 | 23 | 1 24 | 1 25 | 100 26 | 0 0 0 0 0 0 27 | 28 | 29 | 30 | 31 | ExoskeletonURDFmodel::ExoRightLeg 32 | HumanURDFmodel::RightUpperLeg 33 | 34 | 1 35 | 1 36 | 100 37 | 0 0 0 0 0 0 38 | 39 | 40 | 41 | 42 | model://HumanExoskeleton_SDFModel/init/gazebo_torso.ini 43 | 44 | 45 | model://HumanExoskeleton_SDFModel/init/gazebo_head.ini 46 | 47 | 48 | model://HumanExoskeleton_SDFModel/init/gazebo_leftleg.ini 49 | 50 | 51 | model://HumanExoskeleton_SDFModel/init/gazebo_rightleg.ini 52 | 53 | 54 | model://HumanExoskeleton_SDFModel/init/gazebo_rightarm.ini 55 | 56 | 57 | model://HumanExoskeleton_SDFModel/init/gazebo_leftarm.ini 58 | 59 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/init/gazebo_head.ini: -------------------------------------------------------------------------------- 1 | gazeboYarpPluginsRobotName ExoHuman 2 | 3 | [WRAPPER] 4 | # name of the wrapper device to be instatiated by the factory 5 | device controlboardwrapper2 6 | # rate of output streaming from ports in ms 7 | period 10 8 | # output port name (a leading '/' will be added by code) 9 | name /${gazeboYarpPluginsRobotName}/head 10 | # Total number of joints 11 | joints 2 12 | # list of MotorControl device to use 13 | networks ( head ) 14 | # for each network specify the joint map 15 | head 0 1 0 1 16 | # Verbose output (on if present, off if commented out) 17 | #verbose 18 | 19 | [TRAJECTORY_GENERATION] 20 | trajectory_type minimum_jerk 21 | 22 | # Specify configuration of MotorControl devices 23 | [head] 24 | # name of the device to be instatiated by the factory 25 | device gazebo_controlboard 26 | #jointNames list 27 | jointNames jC1Head_rotx jC1Head_roty 28 | name head 29 | 30 | min_stiffness 0.0 0.0 31 | max_stiffness 2000.0 2000.0 32 | min_damping 0.0 0.0 33 | max_damping 2000.0 2000.0 34 | 35 | #PIDs: 36 | # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values 37 | [POSITION_CONTROL] 38 | controlUnits metric_units 39 | controlLaw joint_pid_gazebo_v1 40 | kp 1.745 1.745 41 | kd 0.5 0.5 42 | ki 0.5 0.5 43 | maxInt 9999 9999 44 | maxOutput 9999 9999 45 | shift 0.0 0.0 46 | ko 0.0 0.0 47 | stictionUp 0.0 0.0 48 | stictionDwn 0.0 0.0 49 | 50 | [VELOCITY_CONTROL] 51 | controlUnits metric_units 52 | controlLaw joint_pid_gazebo_v1 53 | kp 8.726 8.726 54 | kd 0.035 0.035 55 | ki 0.002 0.002 56 | maxInt 9999 9999 57 | maxOutput 9999 9999 58 | shift 0.0 0.0 59 | ko 0.0 0.0 60 | stictionUp 0.0 0.0 61 | stictionDwn 0.0 0.0 62 | 63 | [IMPEDANCE_CONTROL] 64 | controlUnits metric_units 65 | controlLaw joint_pid_gazebo_v1 66 | stiffness 0.0 0.0 67 | damping 0.0 0.0 68 | 69 | [LIMITS] 70 | jntPosMax 70.0 70.0 71 | jntPosMin -50.0 -50.0 72 | jntVelMax 100.0 100.0 73 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/init/gazebo_leftarm.ini: -------------------------------------------------------------------------------- 1 | gazeboYarpPluginsRobotName HumanExoskeletonStructure 2 | 3 | [WRAPPER] 4 | # name of the wrapper device to be instatiated by the factory 5 | device controlboardwrapper2 6 | # rate of output streaming from ports in ms 7 | period 10 8 | # output port name (a leading '/' will be added by code) 9 | name /${gazeboYarpPluginsRobotName}/leftarm 10 | # Total number of joints 11 | joints 8 12 | # list of MotorControl device to use 13 | networks ( leftarm ) 14 | # for each network specify the joint map 15 | leftarm 0 7 0 7 16 | # Verbose output (on if present, off if commented out) 17 | #verbose 18 | 19 | [TRAJECTORY_GENERATION] 20 | trajectory_type minimum_jerk 21 | 22 | # Specify configuration of MotorControl devices 23 | [leftarm] 24 | # name of the device to be instatiated by the factory 25 | device gazebo_controlboard 26 | #jointNames list 27 | jointNames jLeftC7Shoulder_rotx jLeftShoulder_rotx jLeftShoulder_roty jLeftShoulder_rotz jLeftElbow_roty jLeftElbow_rotz jLeftWrist_rotx jLeftWrist_rotz 28 | name leftarm 29 | 30 | min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 31 | max_stiffness 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 32 | min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 33 | max_damping 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 34 | 35 | #PIDs: 36 | # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values 37 | [POSITION_CONTROL] 38 | controlUnits metric_units 39 | controlLaw joint_pid_gazebo_v1 40 | kp 400 400 400 400 400 400 400 400 41 | kd 40 40 40 40 40 40 40 40 42 | ki 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 43 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 44 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 45 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 46 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 47 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 48 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 49 | 50 | [VELOCITY_CONTROL] 51 | controlUnits metric_units 52 | controlLaw joint_pid_gazebo_v1 53 | kp 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 54 | kd 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 55 | ki 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 56 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 57 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 58 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 59 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 60 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 61 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 62 | 63 | [IMPEDANCE_CONTROL] 64 | controlUnits metric_units 65 | controlLaw joint_pid_gazebo_v1 66 | stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 67 | damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 68 | 69 | [LIMITS] 70 | jntPosMax 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 71 | jntPosMin -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 72 | jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 73 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/init/gazebo_leftleg.ini: -------------------------------------------------------------------------------- 1 | gazeboYarpPluginsRobotName HumanExoskeletonStructure 2 | 3 | [WRAPPER] 4 | # name of the wrapper device to be instatiated by the factory 5 | device controlboardwrapper2 6 | # rate of output streaming from ports in ms 7 | period 10 8 | # output port name (a leading '/' will be added by code) 9 | name /${gazeboYarpPluginsRobotName}/leftleg 10 | # Total number of joints 11 | joints 10 12 | # list of MotorControl device to use 13 | networks ( leftleg ) 14 | # for each network specify the joint map 15 | leftleg 0 9 0 9 16 | # Verbose output (on if present, off if commented out) 17 | #verbose 18 | 19 | [TRAJECTORY_GENERATION] 20 | trajectory_type minimum_jerk 21 | 22 | # Specify configuration of MotorControl devices 23 | [leftleg] 24 | # name of the device to be instatiated by the factory 25 | device gazebo_controlboard 26 | #jointNames list 27 | jointNames jActuatedLeftHip_rotx jLeftHip_rotx jLeftHip_roty jLeftHip_rotz jLeftKnee_roty jLeftKnee_rotz jLeftAnkle_rotx jLeftAnkle_roty jLeftAnkle_rotz jLeftBallFoot_roty 28 | name leftleg 29 | 30 | min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 31 | max_stiffness 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 32 | min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 33 | max_damping 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 34 | 35 | #PIDs: 36 | # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values 37 | [POSITION_CONTROL] 38 | controlUnits metric_units 39 | controlLaw joint_pid_gazebo_v1 40 | kp 400 400 400 400 400 400 400 400 400 400 41 | kd 40 40 40 40 40 40 40 40 40 40 42 | ki 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 43 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 44 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 45 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 46 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 47 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 48 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 49 | 50 | [VELOCITY_CONTROL] 51 | controlUnits metric_units 52 | controlLaw joint_pid_gazebo_v1 53 | kp 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 54 | kd 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 55 | ki 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 56 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 57 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 58 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 59 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 60 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 61 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 62 | 63 | [IMPEDANCE_CONTROL] 64 | controlUnits metric_units 65 | controlLaw joint_pid_gazebo_v1 66 | stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 67 | damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 68 | 69 | [LIMITS] 70 | jntPosMax 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 71 | jntPosMin -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 72 | jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 73 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/init/gazebo_rightarm.ini: -------------------------------------------------------------------------------- 1 | gazeboYarpPluginsRobotName HumanExoskeletonStructure 2 | 3 | [WRAPPER] 4 | # name of the wrapper device to be instatiated by the factory 5 | device controlboardwrapper2 6 | # rate of output streaming from ports in ms 7 | period 10 8 | # output port name (a leading '/' will be added by code) 9 | name /${gazeboYarpPluginsRobotName}/rightarm 10 | # Total number of joints 11 | joints 8 12 | # list of MotorControl device to use 13 | networks ( rightarm ) 14 | # for each network specify the joint map 15 | rightarm 0 7 0 7 16 | # Verbose output (on if present, off if commented out) 17 | #verbose 18 | 19 | [TRAJECTORY_GENERATION] 20 | trajectory_type minimum_jerk 21 | 22 | # Specify configuration of MotorControl devices 23 | [rightarm] 24 | # name of the device to be instatiated by the factory 25 | device gazebo_controlboard 26 | #jointNames list 27 | jointNames jRightC7Shoulder_rotx jRightShoulder_rotx jRightShoulder_roty jRightShoulder_rotz jRightElbow_roty jRightElbow_rotz jRightWrist_rotx jRightWrist_rotz 28 | name rightarm 29 | 30 | min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 31 | max_stiffness 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 32 | min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 33 | max_damping 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 34 | 35 | #PIDs: 36 | # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values 37 | [POSITION_CONTROL] 38 | controlUnits metric_units 39 | controlLaw joint_pid_gazebo_v1 40 | kp 400 400 400 400 400 400 400 400 41 | kd 40 40 40 40 40 40 40 40 42 | ki 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 43 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 44 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 45 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 46 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 47 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 48 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 49 | 50 | [VELOCITY_CONTROL] 51 | controlUnits metric_units 52 | controlLaw joint_pid_gazebo_v1 53 | kp 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 54 | kd 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 55 | ki 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 56 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 57 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 58 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 59 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 60 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 61 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 62 | 63 | [IMPEDANCE_CONTROL] 64 | controlUnits metric_units 65 | controlLaw joint_pid_gazebo_v1 66 | stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 67 | damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 68 | 69 | [LIMITS] 70 | jntPosMax 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 71 | jntPosMin -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 72 | jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 73 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/init/gazebo_rightleg.ini: -------------------------------------------------------------------------------- 1 | gazeboYarpPluginsRobotName HumanExoskeletonStructure 2 | 3 | [WRAPPER] 4 | # name of the wrapper device to be instatiated by the factory 5 | device controlboardwrapper2 6 | # rate of output streaming from ports in ms 7 | period 10 8 | # output port name (a leading '/' will be added by code) 9 | name /${gazeboYarpPluginsRobotName}/rightleg 10 | # Total number of joints 11 | joints 10 12 | # list of MotorControl device to use 13 | networks ( rightleg ) 14 | # for each network specify the joint map 15 | rightleg 0 9 0 9 16 | # Verbose output (on if present, off if commented out) 17 | #verbose 18 | 19 | [TRAJECTORY_GENERATION] 20 | trajectory_type minimum_jerk 21 | 22 | # Specify configuration of MotorControl devices 23 | [rightleg] 24 | # name of the device to be instatiated by the factory 25 | device gazebo_controlboard 26 | #jointNames list 27 | jointNames jActuatedRightHip_rotx jRightHip_rotx jRightHip_roty jRightHip_rotz jRightKnee_roty jRightKnee_rotz jRightAnkle_rotx jRightAnkle_roty jRightAnkle_rotz jRightBallFoot_roty 28 | name rightleg 29 | 30 | min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 31 | max_stiffness 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 32 | min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 33 | max_damping 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 34 | 35 | #PIDs: 36 | # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values 37 | [POSITION_CONTROL] 38 | controlUnits metric_units 39 | controlLaw joint_pid_gazebo_v1 40 | kp 400 400 400 400 400 400 400 400 400 400 41 | kd 40 40 40 40 40 40 40 40 40 40 42 | ki 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 43 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 44 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 45 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 46 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 47 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 48 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 49 | 50 | [VELOCITY_CONTROL] 51 | controlUnits metric_units 52 | controlLaw joint_pid_gazebo_v1 53 | kp 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 54 | kd 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 55 | ki 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 56 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 57 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 58 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 59 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 60 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 61 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 62 | 63 | [IMPEDANCE_CONTROL] 64 | controlUnits metric_units 65 | controlLaw joint_pid_gazebo_v1 66 | stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 67 | damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 68 | 69 | [LIMITS] 70 | jntPosMax 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 71 | jntPosMin -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 72 | jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 73 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/init/gazebo_torso.ini: -------------------------------------------------------------------------------- 1 | gazeboYarpPluginsRobotName HumanExoskeletonStructure 2 | 3 | [WRAPPER] 4 | # name of the wrapper device to be instatiated by the factory 5 | device controlboardwrapper2 6 | # rate of output streaming from ports in ms 7 | period 10 8 | # output port name (a leading '/' will be added by code) 9 | name /${gazeboYarpPluginsRobotName}/torso 10 | # Total number of joints 11 | joints 14 12 | # list of MotorControl device to use 13 | networks ( torso ) 14 | # for each network specify the joint map 15 | torso 0 13 0 13 16 | # Verbose output (on if present, off if commented out) 17 | #verbose 18 | 19 | [TRAJECTORY_GENERATION] 20 | trajectory_type minimum_jerk 21 | 22 | # Specify configuration of MotorControl devices 23 | [torso] 24 | # name of the device to be instatiated by the factory 25 | device gazebo_controlboard 26 | #jointNames list 27 | jointNames jL5S1_rotx jL5S1_roty jL4L3_rotx jL4L3_roty jL1T12_rotx jL1T12_roty jT9T8_rotx jT9T8_roty jT9T8_rotz jT1C7_rotx jT1C7_roty jT1C7_rotz jC1Head_rotx jC1Head_roty 28 | name torso 29 | 30 | min_stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 31 | max_stiffness 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 2000.0 0 2000.0 2000.0 2000.0 2000.0 2000.0 32 | min_damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 33 | max_damping 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 0 200.0 200.0 200.0 200.0 200.0 34 | 35 | #PIDs: 36 | # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values 37 | [POSITION_CONTROL] 38 | controlUnits metric_units 39 | controlLaw joint_pid_gazebo_v1 40 | kp 400 400 400 400 400 400 400 400 400 400 400 400 400 400 41 | kd 40 40 40 40 40 40 40 40 40 40 40 40 40 40 42 | ki 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 43 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 44 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 45 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 46 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 47 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 48 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 49 | 50 | [VELOCITY_CONTROL] 51 | controlUnits metric_units 52 | controlLaw joint_pid_gazebo_v1 53 | kp 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 8.726 54 | kd 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 0.035 55 | ki 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 56 | maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 57 | maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 58 | shift 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 59 | ko 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 60 | stictionUp 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 61 | stictionDwn 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 62 | 63 | [IMPEDANCE_CONTROL] 64 | controlUnits metric_units 65 | controlLaw joint_pid_gazebo_v1 66 | stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 67 | damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 68 | 69 | [LIMITS] 70 | jntPosMax 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 70.0 71 | jntPosMin -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 -50.0 72 | jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 73 | -------------------------------------------------------------------------------- /HumanExoskeleton_SDFModel/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | HumanExoskeletonSDFmodel 4 | 5 | 1.0 6 | HumanExoskeletonSDFmodel.sdf 7 | 8 | 9 | Maria Lazzaroni 10 | maria.lazzaroni@iit.it 11 | 12 | 13 | 14 | Model for a simple three link exoskeleton model. 15 | 16 | 17 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | HumanExoskeleton-model 2 | =========== 3 | SDF and URDF models for simulation of the human and the exoskeleton in Gazebo. 4 | 5 | Models 6 | ------------ 7 | * Human URDF model: the human body is modeled as an articulated multi-body system with links connected by joints. Links has simple geometric shapes (parallelepiped, cylinder, sphere). Each joint has 1,2 or 3 DOFs (see [here](https://github.com/claudia-lat/MAPest/commit/f2b7a0b7f1cd0f1ee953f21e1c57b075005eee10) a description of each joint allowed movements). It is worth to note that we consider 1-DoFs revolute joints and combination of them to obtain a series of joints with a higher number of DoFs. As a straightforward consequence, this choice implies the presence of 'fake' links (denoted in the templates with *name-of-the-link_f*) with mass and dimensions negligible. 8 | 9 | * Exoskeleton URDF model: this model is the result of a process of extraction of kinematics parameters, inertial parameters and meshes from the original CAD files of the RoboMate exoskeleton. For more information, see the [documentation](https://github.com/MariaLazzaroni/HumanExoskeleton-model/blob/master/misc/CADtoURDF.pdf). 10 | 11 | * Human-Exoskeleton SDF model: is the model, referencing the other two URDF models, of the [composite structure](https://github.com/MariaLazzaroni/HumanExoskeleton-model/blob/master/misc/HumanExoskeletonSDF.png). 12 | 13 | Installation 14 | ------------ 15 | Install [YARP](http://www.yarp.it/install.html), [Gazebo](http://gazebosim.org/tutorials?cat=install) and [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins). 16 | 17 | As HumanExoskeletonSDFmodel uses [YARP](http://yarp.it), remember to start it before starting the simulation, using the following command in a console: 18 | ``` 19 | yarpserver 20 | ``` 21 | 22 | Then, run Gazebo for start the simulation. 23 | -------------------------------------------------------------------------------- /misc/CADtoURDF.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MariaLazzaroni/HumanExoskeleton-model/465d0308a52a5f8f9a52049041e2ac1664b3edbb/misc/CADtoURDF.pdf -------------------------------------------------------------------------------- /misc/HumanExoskeletonSDF.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MariaLazzaroni/HumanExoskeleton-model/465d0308a52a5f8f9a52049041e2ac1664b3edbb/misc/HumanExoskeletonSDF.png --------------------------------------------------------------------------------