This paper analyzes human motion, more specifically the human gait in the sagittal plane. A video camera is used to acquire images of a walking person, fitted with a set of white light-emitting diodes (LEDs). The acqu...
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This paper analyzes human motion, more specifically the human gait in the sagittal plane. A video camera is used to acquire images of a walking person, fitted with a set of white light-emitting diodes (LEDs). The acquired trajectories of the light points are then used to specify joint trajectories in a biped robot. To analyze the stability of the human gait, a system was also developed to acquire the center of pressure (CoP). This system uses eight force sensors, four under each foot. The influence of the human torso angle on the CoP position during walking was confirmed. Some experiments were carried out on a biped robot, and the results show that the acquired human gait can be used in a biped robot, after scale conversion.
With this work it is intended to do the tracking and analysis of the human motion, more specifically the gait. By using computational vision, it has been acquired the trajectories of defined control points in individu...
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ISBN:
(纸本)9781424408290
With this work it is intended to do the tracking and analysis of the human motion, more specifically the gait. By using computational vision, it has been acquired the trajectories of defined control points in individuals' body, throughout time and space. These results are to he used afterwards in gait specification of biped robots. Several types of movement and the phases that compose a common system of capture and analysis of movement are referenced. Then, methods used in image processing and a description of existing gait types are detailed. Finally, the implemented software is presented and the results analyzed.
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