Abstract:
In this paper, we present a low-cost IMU-based system, Pedalvatar, which can capture the full-body motion of users in real-time. Unlike the prior approaches using the hip...Show MoreMetadata
Abstract:
In this paper, we present a low-cost IMU-based system, Pedalvatar, which can capture the full-body motion of users in real-time. Unlike the prior approaches using the hip-joint as the root of forward kinematic model, a foot-rooted kinematic model is developed in this work. A state change mechanism has also been investigated to allow dynamically switching the root of kinematic trees between the left and the right foot. Benefitted from this, full-body motions can be well captured in our system as long as there is at least one static foot in the movement. The ‘floating’ artifact of hip-joint rooted methods has been eliminated in our approach, and more complicated motions such as climbing stairs can be successfully captured in real-time. Comparing to those vision-based systems, this IMU-based system provides more flexibility on capturing outdoor motions that are important for many robotic applications.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: