Authors:
Igor Danilov
;
Bulat Gabbasov
;
Ilya Afanasyev
and
Evgeni Magid
Affiliation:
Innopolis University, Russian Federation
Keyword(s):
Motion Capture (MoCap), Zero Moment Point (ZMP), Kinect Sensor, Biomechanical Analysis of Human Locomotion, Multi-depth Sensor Video Recording.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Device Calibration, Characterization and Modeling
;
Geometry and Modeling
;
Image Formation and Preprocessing
;
Image Formation, Acquisition Devices and Sensors
;
Image-Based Modeling
;
Motion, Tracking and Stereo Vision
;
Multimodal and Multi-Sensor Models of Image Formation
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Stereo Vision and Structure from Motion
Abstract:
This article presents the methods of zero moment point (ZMP) trajectory evaluation for human locomotion
by processing biomechanical data recorded with Kinect-based motion capture (MoCap) system. Our MoCap
system consists of four Kinect 2 sensors, using commercial iPi soft markerless tracking and visualization
technology. We apply iPi Mocap Studio software to multi-depth sensor video recordings, acquiring visual and
biomechanical human gait data, including linear and angular coordinates, velocities, accelerations and center
of mass (CoM) position of each joint. Finally, we compute ZMP and ground projection of the CoM (GCOM)
trajectories from human body dynamics in MATLAB by two methods, where human body is treated as (1)
a single mass point, and (2) multiple mass points (with following ZMP calculation via inertia tensor). The
further objective of our research is to reproduce the human-like gait with Russian biped robot AR-601M.