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arXiv · 1909.07669

Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics on SO(3)

Lorenzo Rapetti·Yeshasvi Tirupachuri·Kourosh Darvish·Claudia Latella·Daniele Pucci
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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.

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Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Claudia Latella, Daniele Pucci. 2020-03-30. Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics on SO(3). https://doi.org/10.3390/a13100266

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