ZMP Trajectory from Human Body Locomotion Dynamics Evaluated by Kinect-based Motion Capture System

Igor Danilov, Bulat Gabbasov, Ilya Afanasyev, Evgeni Magid

2016

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.

Paper Citation

in Harvard Style

Danilov I., Gabbasov B., Afanasyev I. and Magid E. (2016). ZMP Trajectory from Human Body Locomotion Dynamics Evaluated by Kinect-based Motion Capture System . In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 160-166. DOI: 10.5220/0005726001600166

in Bibtex Style

@conference{visapp16,
author={Igor Danilov and Bulat Gabbasov and Ilya Afanasyev and Evgeni Magid},
title={ZMP Trajectory from Human Body Locomotion Dynamics Evaluated by Kinect-based Motion Capture System},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={160-166},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005726001600166},
isbn={978-989-758-175-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)
TI - ZMP Trajectory from Human Body Locomotion Dynamics Evaluated by Kinect-based Motion Capture System
SN - 978-989-758-175-5
AU - Danilov I.
AU - Gabbasov B.
AU - Afanasyev I.
AU - Magid E.
PY - 2016
SP - 160
EP - 166
DO - 10.5220/0005726001600166