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