Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics on SO(3)
Abstract
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present a method based on the integration of differential kinematics using distance measurement on SO(3) for which the convergence is proved using Lyapunov analysis. An experimental scenario, where the motion of a human subject is tracked in static and dynamic configurations, is used to validate the inverse kinematics method performance on human and humanoid models. Moreover, the method is tested on a human-humanoid retargeting scenario, verifying the usability of the computed solution for real-time robotics applications. Our approach is evaluated both in terms of accuracy and computational load, and compared to iterative optimization algorithms.
Cite
@article{arxiv.1909.07669,
title = {Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics on SO(3)},
author = {Lorenzo Rapetti and Yeshasvi Tirupachuri and Kourosh Darvish and Claudia Latella and Daniele Pucci},
journal= {arXiv preprint arXiv:1909.07669},
year = {2020}
}