Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics

• Published in: Algorithms Vol. 13; no. 10; p. 266
• Main Authors: Rapetti, Lorenzo, Tirupachuri, Yeshasvi, Darvish, Kourosh, Dafarra, Stefano, Nava, Gabriele, Latella, Claudia, Pucci, Daniele
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.10.2020
• Subjects: Algorithms; Configurations; Human motion; Human performance; Humanoid; Inverse kinematics; Iterative methods; kinematic estimation; Kinematics; motion retargeting; motion tracking; Optimization; Real time; Robotics; Sensors; Tracking; Velocity

This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for dynamically solving the inverse kinematics of highly articulate systems such as humans. The method presented is model-based, it makes use of velocity correctio...