Open Source Library of Human Models for Gazebo Simulator

Abstract

The paper presents a new library of realistic human models for the Gazebo simulator. Male and female models have different age, race, hairstyles, clothes, and accessories. Animations of running, walking, sitting, and talking are available for each model, which allows diversifying actions of actors in the simulation. The models were successfully tested for operability in human-robot interaction (HRI) projects. The proposed open-source library significantly increases the effectiveness of HRI activities’ modelling and testing in Gazebo environments.