Human Motion Simulation Based On Kinect And ODE

The humanoid robot which can simulate human body structure and function is always been a hot point among the researchers in the robot field.In recent years,machines are in the transition from accepting human's instruction passively to learning human's feature actively.Under this trend,learning from demonstration become a major method in machine learning to control and train the machines.In this paper,a human motion model is designed to drive the virtual humanoid robot by using the motion data that captured by Microsoft Kinect.This study provides the experiment platform,model and method for the development of humanoid robot and the research of human motion.Firstly,we set up a simulation platform which integrates the function of motion data capturing,real time data analyzing,real time motion simulating and motion evaluating.This platform provides a kinematic simulation environment using the ODE's API so that some rigid kinematic simulation experiment can be carried out in it.This platform is the base of motion modeling and simulation.Secondly,a humanoid robot with 20 degrees of freedom is created according to real human body structure.A human motion model which based on joint's rotate angle and rotate axis is proposed contrapose the feature of three-dimensional human motion data.This model can transform the key points' coordinates that captured by Kinect to the joint angle that can drive the virtual robot and realize the function of real time human motion simulation.Finally,in order to evaluate the human motion objectively,the similarity between two motion data is introduced as an evaluation index.Traditional Euclidean distance can't represent the similarity between two motion due to the unequal length of motion data,and so the Dynamic Time Warping(DTW)algorithm is introduced to align two motion data in time shaft and then calculate the similarity between the data by searching an optimal warping route.The simulation result shows that the proposed motion model can simulate human limb motion in real time.The motion evaluation experiment shows that the index introduced in this paper provides an objective evaluate method for human motion.