TOWARD A HUMAN-LIKE BIPED ROBOT GAIT: BIOMECHANICAL ANALYSIS OF HUMAN LOCOMOTION RECORDED BY KINECT-BASED MOTION CAPTURE SYSTEM

摘要

This paper presents biomechanical analysis of human locomotion recorded by Motion Capture (MoCap) system based on four Kinect 2 sensors and iPi Soft markerless tracking and visualization technology. To analyze multi-depth sensor video recordings we utilize iPi Mocap Studio software and iPi Biomech Add-on plug-in, which provide us visual and biomechanical human gait data: linear and angular joint coordinates, velocity, acceleration, center of mass (CoM) position, skeleton and 3D point cloud. The final analysis was performed in MATLAB environment, calculating zero moment point (ZMP) and ground projection of the CoM (GCoM) trajectories from human body dynamics by considering human body as a single weight point. These were followed by GCoM and ZMP error estimation. The further objective of our research is to reproduce the obtained with our MoCap system human-like gait with Russian biped robot AR-601M.