Data-driven Inverse Dynamics for Human Motion

doi:10.1145/2980179.2982440

	Data-driven Inverse Dynamics for Human Motion
	Lv, Xiaolei 1,2; Chai, Jinxiang 3; Xia, Shihong 1
	2016-11-01
发表期刊	ACM TRANSACTIONS ON GRAPHICS
ISSN	0730-0301
卷号	35 期号:6 页码:12
摘要	Inverse dynamics is an important and challenging problem in human motion modeling, synthesis and simulation, as well as in robotics and biomechanics. Previous solutions to inverse dynamics are often noisy and ambiguous particularly when double stances occur. In this paper, we present a novel inverse dynamics method that accurately reconstructs biomechanically valid contact information, including center of pressure, contact forces, torsional torques and internal joint torques from input kinematic human motion data. Our key idea is to apply statistical modeling techniques to a set of preprocessed human kinematic and dynamic motion data captured by a combination of an optical motion capture system, pressure insoles and force plates. We formulate the data-driven inverse dynamics problem in a maximum a posteriori (MAP) framework by estimating the most likely contact information and internal joint torques that are consistent with input kinematic motion data. We construct a low-dimensional data-driven prior model for contact information and internal joint torques to reduce ambiguity of inverse dynamics for human motion. We demonstrate the accuracy of our method on a wide variety of human movements including walking, jumping, running, turning and hopping and achieve state-of-the- art accuracy in our comparison against alternative methods. In addition, we discuss how to extend the data-driven inverse dynamics framework to motion editing, filtering and motion control.
关键词	Character animation data-driven inverse dynamics
DOI	10.1145/2980179.2982440
收录类别	SCI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Software Engineering
WOS记录号	WOS:000388446200005
出版者	ASSOC COMPUTING MACHINERY
引用统计	被引频次：28[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/7945
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Lv, Xiaolei
作者单位	1.Chinese Acad Sci, Inst Comp Technol, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China 3.Texas A&M Univ, College Stn, TX 77843 USA
推荐引用方式 GB/T 7714	Lv, Xiaolei,Chai, Jinxiang,Xia, Shihong. Data-driven Inverse Dynamics for Human Motion[J]. ACM TRANSACTIONS ON GRAPHICS,2016,35(6):12.
APA	Lv, Xiaolei,Chai, Jinxiang,&Xia, Shihong.(2016).Data-driven Inverse Dynamics for Human Motion.ACM TRANSACTIONS ON GRAPHICS,35(6),12.
MLA	Lv, Xiaolei,et al."Data-driven Inverse Dynamics for Human Motion".ACM TRANSACTIONS ON GRAPHICS 35.6(2016):12.