MATEC Web Conf.
Volume 355, 20222021 International Conference on Physics, Computing and Mathematical (ICPCM2021)
|Number of page(s)||8|
|Section||Computing Methods and Computer Application|
|Published online||12 January 2022|
Pedestrian motion centroid model based on robot dynamics
College of Electronic and Information Engineering, Tongji University, Shanghai, 201804, China
* Corresponding author: email@example.com
In recent years, with the rapid development of computer vision technology, image-based human body research has become an important task, such as pedestrian target detection, trajectory tracking, posture estimation and behaviour recognition. The centre of mass is one of the important characteristics that can reflect the phenomenon of pedestrian movement. This paper first introduces the biped robot model in robotics, starting from forward and inverse kinematics, to find the mapping relationship between the position of each joint and the pose of the end effector. Then, corresponding to the skeleton model of the human joint points, the characteristics of the bone posture and joint angle are determined. The moment of inertia factor is introduced, and the motion superposition of different joint points is considered to establish a pedestrian motion centroid model. By calculating the equivalent dynamic centroid, the pedestrian kinematics law can be explored and the pedestrian movement mechanism can be more deeply recognized.
Key words: Robotics / Kinematics / Pedestrian skeleton / Motion centroid
© The Authors, published by EDP Sciences, 2022
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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