Motion Control for Realistic Walking Behavior using Inverse Kinematics

Memişoğlu, Aydemir; Güdükbay, Uğur; Özgüç, Bülent

doi:10.1109/3dtv.2007.4379462

Cited by 3 publications

(1 citation statement)

References 13 publications

(9 reference statements)

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“…The 3D pose estimator computes the 3D joint configurations from the 2D joint coordinates and the depth information of the human model for each body part. Finally, the 3D human model is animated based on the 3D joint configurations computed from the video sequence [27,28]. We use forward kinematics to generate the human posture according to the calculated joint angles.…”

Section: Motion Capture and Animation Systemmentioning

confidence: 99%

Motion capture and human pose reconstruction from a single-view video sequence

Güdükbay

Demir

Dedeoğlu

2013

Digital Signal Processing

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Cataloged from PDF version of article.We propose a framework to reconstruct the 3D pose of a human for animation from a sequence of single-view video frames. The framework for pose construction starts with background estimation and the performer's silhouette is extracted using image subtraction for each frame. Then the body silhouettes are automatically labeled using a model-based approach. Finally, the 3D pose is constructed from the labeled human silhouette by assuming orthographic projection. The proposed approach does not require camera calibration. It assumes that the input video has a static background, it has no significant perspective effects, and the performer is in an upright position. The proposed approach requires minimal user interaction. (C) 2013 Elsevier Inc. All rights reserved

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Section: Motion Capture and Animation Systemmentioning

confidence: 99%

Motion capture and human pose reconstruction from a single-view video sequence

Güdükbay

Demir

Dedeoğlu

2013

Digital Signal Processing

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A review and analysis of the trajectory gait generation for humanoid robot using inverse kinematic

Zadeh

Khosravi

Moghimi

et al. 2011

2011 3rd International Conference on Electronics Computer Technology

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In this paper, a control strategy based on the Inverse Kinematic (IK) is proposed for gate generation for a twolegged humanoid. According to this approach, a pattern oscillation plan is designed by some of walking basic feature such as: the sole-maximum height of the ground, time of walking and etc, at the first time. Then all of the body coordination position (X,Y,Z) -Joints and links -was adapted from the oscillation plan using Forward Kinematic (FK), after determination positions , every joint angle has been calculated using inverse kinematic and is sent to every joint motor controller as a specifics Command string periodically. For determination positions, a trajectories must be designed that shown sole coordination(X, Y) at the space. In other to implementation this algorithm, we use a model of the humanoid robot that is called Nao Robot and implement our algorithm on its simulation environment (that is used for international soccer humanoid robotic simulation participates, its name is "rcssserver3D").

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