The human motion capture studio provides a unique facility for capturing and analyzing human motion as well as for the mapping to humanoid robots. The studio is equipped with 14 Vicon MX cameras (1 megapixel resolution and 250 fps), microphone array and several kinect cameras. Several tools for motion post-processing of recorded data, normalization, synchronization of different sensor modalities, visualization exist. In addition, a reference model of the human body (The Master Motor Map, MMM) and a standardized marker set allow unifying representations of captured human motion, and the transfer of subject-specific motions to robots with different embodiments. The motion data in the database considers human as well as object motions. The raw motion data entries are enriched with additional descriptions and labels. Beside the captured motion in its raw format (e.g., marker motions), information about the subject anthropometric measurements and the setup of the scene including environmental elements and objects are provided. The motions are annotated with motion description tags that allow efficient search for certain motion types through structured queries.
Among the project objectives is the creation of innovative formal and computer means for human and humanoid robot motion design using hierarchical systems (HS) technology. One of the objectives is the implementation of the HS design method in the design and control tasks of human and humanoid robot motion, and verification of the correspondence of HS method and computer models developed to the real processes of human and humanoid robot motions, and possibility of prediction and coordination (design and control) of human motion using HS technology. For this aim, correspondent experimental study using VICON platform should be performed, and HS computer model and VICON system Nexus 2.7 and MMM software should be integrated and incorporated. It will extend HS method functional abilities and bring new means of human and humanoid robots motion design and additional possibilities of the developed HS technology implementation. It will make the proposed technology coordinated with existent models utilized and program means of the modern VICON system used in human and humanoid robot motion analysis and design, and rise the efficiency of solving of existent and new motion design and control problems.
TNA gave an opportunity to perform an experimental work on capturing and analyzing human motion in modern laboratory environment using glove with sensors and Wacom Pro graphic tablet, up-to-date VICON system and Nexus 2.7 software. Obtained experimental results will allow verification of functional abilities of HS method and creation of an innovative formal and computer means for human and humanoid robot motion design and control. Installing of a strong cooperation with colleagues from Institute for Anthropometrics and Robotics – H2T, Karlsruher Institut fur Technologie (KIT) is also an impact of the project. The obtained experience in joint work in H2T, (KIT) will contribute to the future research and allow solving new actual problems of human and humanoid robots motion design and control by using author’s innovative HS technology developed as well as modern platforms and up-to-date software of H2T, (KIT).