摘要
人体运动复杂且灵活多变,难以准确识别和学习。基于Kinect和ODE建立了一个集数据采集、分析建模、运动控制、物理再现、仿真于一体的人体运动仿真平台。采用Kinect进行人体动作实时连续捕捉,建立人体运动模型及计算模型,并基于ODE引擎实现了人体运动的准确再现和物理仿真。该平台以仿人乒乓机器人的手臂运动为实例进行研究,通过实验验证了该平台的有效性、准确性和实时性。
Due to considerable complexity and flexibility, it is not an easy task to achieve an accurate recognition and study of human motion. By utilizing Kinect and ODE, a platform for simulating human motion was established, which integrated such functions as motion capture, analysis and computation, motion control, physical reproduction and simulation. Kinect was chosen as the device for capturing human motion consecutively in real-time, and a human motion model and corresponding computation model was set up. After that, a physical model was created by using ODE, which presented precise reproducing and simulating of human motion. As a living instance, a virtual humanoid ping-pong robot was constructed to check the effectiveness, accuracy and instantaneity of the platform.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2014年第9期1922-1926,共5页
Journal of System Simulation
基金
国家自然科学基金(61170185)
辽宁省自然科学基金(20130 24002)
辽宁省教育厅基金(L2013063)
沈阳市人才资源开发专项资金(10224)
关键词
人体运动
仿真
乒乓机器人
运动捕捉
human motion
simulation
ping-pong robot
motion capture
