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robotology / human-dynamics-estimation

Software repository for estimating human dynamics
BSD 3-Clause "New" or "Revised" License
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Human model urdf usage in matlab simulink #80

Closed yeshasvitirupachuri closed 6 years ago

yeshasvitirupachuri commented 6 years ago

Verified the mass matrix to be symmetric and positive definite using the test human controller. Used 10 HDE datasets with Claudia66DoF.urdf human model

NOTE: For this testing, I assumed the base link (pelvis) to be fixed. Actually, human-state-provider gives base link pose and it is currently not considered in the hde-interface module. This has to be implemented and tested.