Modeling and learning contact dynamics in human motion

We propose a simple model of human motion as a switching linear dynamical system where the switches correspond to contact forces with the ground. This significantly improves the modeling performance when compared to simpler linear systems, with only marginal increase in complexity. We introduce a no...

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Published in2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) Vol. 1; pp. 421 - 428 vol. 1
Main Author Bissacco, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Biological system modeling
Computational modeling
Computer science
Computer vision
Humans
Kinematics
Linear systems
Predictive models
Statistics
Switches
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Abstract We propose a simple model of human motion as a switching linear dynamical system where the switches correspond to contact forces with the ground. This significantly improves the modeling performance when compared to simpler linear systems, with only marginal increase in complexity. We introduce a novel closed-form (non-iterative) algorithm to estimate the switches and learn the model parameters in between switches. We validate our model qualitatively by running simulations, and quantitatively by computing prediction errors that show significant improvements over previous approaches using linear models.
AbstractList We propose a simple model of human motion as a switching linear dynamical system where the switches correspond to contact forces with the ground. This significantly improves the modeling performance when compared to simpler linear systems, with only marginal increase in complexity. We introduce a novel closed-form (non-iterative) algorithm to estimate the switches and learn the model parameters in between switches. We validate our model qualitatively by running simulations, and quantitatively by computing prediction errors that show significant improvements over previous approaches using linear models.
Author Bissacco, A.
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Snippet We propose a simple model of human motion as a switching linear dynamical system where the switches correspond to contact forces with the ground. This...
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StartPage 421
SubjectTerms Biological system modeling
Computational modeling
Computer science
Computer vision
Humans
Kinematics
Linear systems
Predictive models
Statistics
Switches
Title Modeling and learning contact dynamics in human motion
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