Data Acquisition And Analysis Of Human Motion

The technology of human motion capture used to capture human motion data, and provide these data for researchers. It has been applied in the fields of rehabilitation, animation, etc. In recent years, the technology has also been widely applied in the field of robotics with the development of robot, mainly for its motion planning, instruction learning, remote operation, etc. This thesis reviewed the history and current research status of human motion capture technology, built the human motion capture hardware and software systems, designed the process of data acquisition, processing and application, summarized the principles of human gait pattern and swing-leg retraction. The main contributions are as follows:1. Established the hardware and software platform of human motion capture. Built the hardware system with 12 cameras, and developed the rules of system calibration. Designed the framework of software, and developed the virtual 3D scene in the software.2. Designed the process of data acquisition, processing and application. Designed the marker attaching rules, markers’matching and tracking algorithms, and skeleton calculation algorithm. The data of human motion is processed by B-Spline and reproduced on humanoid robot.3. Summarized the movement of human walking and running. A segmentation method is proposed to process different human gaits, and a more accurate gait formula is obtained based on predecessor’s model. And finally, the principle of swing-leg retraction is analyzed.