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Data-driven Inverse Dynamics for Human Motion

文献类型：期刊论文

作者Lv, Xiaolei1,2; Chai, Jinxiang3; Xia, Shihong1
刊名ACM TRANSACTIONS ON GRAPHICS
出版日期2016-11-01
卷号35期号:6页码:12
关键词Character animation data-driven inverse dynamics
ISSN号0730-0301
DOI10.1145/2980179.2982440
英文摘要Inverse dynamics is an important and challenging problem in human motion modeling, synthesis and simulation, as well as in robotics and biomechanics. Previous solutions to inverse dynamics are often noisy and ambiguous particularly when double stances occur. In this paper, we present a novel inverse dynamics method that accurately reconstructs biomechanically valid contact information, including center of pressure, contact forces, torsional torques and internal joint torques from input kinematic human motion data. Our key idea is to apply statistical modeling techniques to a set of preprocessed human kinematic and dynamic motion data captured by a combination of an optical motion capture system, pressure insoles and force plates. We formulate the data-driven inverse dynamics problem in a maximum a posteriori (MAP) framework by estimating the most likely contact information and internal joint torques that are consistent with input kinematic motion data. We construct a low-dimensional data-driven prior model for contact information and internal joint torques to reduce ambiguity of inverse dynamics for human motion. We demonstrate the accuracy of our method on a wide variety of human movements including walking, jumping, running, turning and hopping and achieve state-of-the- art accuracy in our comparison against alternative methods. In addition, we discuss how to extend the data-driven inverse dynamics framework to motion editing, filtering and motion control.
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000388446200005
出版者ASSOC COMPUTING MACHINERY
源URL[http://119.78.100.204/handle/2XEOYT63/7944]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Lv, Xiaolei
作者单位1.Chinese Acad Sci, Inst Comp Technol, Beijing, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
3.Texas A&M Univ, College Stn, TX 77843 USA
推荐引用方式
GB/T 7714		 Lv, Xiaolei,Chai, Jinxiang,Xia, Shihong. Data-driven Inverse Dynamics for Human Motion[J]. ACM TRANSACTIONS ON GRAPHICS,2016,35(6):12.
APA Lv, Xiaolei,Chai, Jinxiang,&Xia, Shihong.(2016).Data-driven Inverse Dynamics for Human Motion.ACM TRANSACTIONS ON GRAPHICS,35(6),12.
MLA Lv, Xiaolei,et al."Data-driven Inverse Dynamics for Human Motion".ACM TRANSACTIONS ON GRAPHICS 35.6(2016):12.

入库方式： OAI收割

来源：计算技术研究所

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