基于光学运动捕捉数据的虚拟人下肢运动控制方法

Research on Motion Control Technology of Virtual Human's Lower Limb Based on Optical Motion Capture Data

由于被动式光学运动捕捉设备只能捕捉人体关键关节的运动信息,介绍了一种简化的虚拟人体骨架结构模型;在此基础上根据光学运动捕捉数据的获取过程,分析了虚拟人体运动数据误差的来源。重点针对由于运动捕捉数据连续性不足造成的虚拟人下肢运动连续性差等问题,为加强对虚拟人运动过程的控制,提出一种对关键关节点运动数据平滑处理,再基于逆向运动学计算下肢运动链其它关节点运动信息的运动控制方法。通过实验和分动箱虚拟维修训练平台证明了该方法的有效性和实用性。

As passive-optical motion capture equipment could only capture the motion information of human's key joints, a simplified skeleton structure model of virtual human was introduced; and then the error sources of motion data of virtual human were analyzed according to the acquisition process of optical motion capture data based on the skeleton structure model. Focusing on the problem of poor continuity of motion process of virtual human's lower limb caused by continuity deficiency of motion capture data, a motion control method was proposed to strengthen the control of motion process of virtual human, which included data smoothing of motion process of key joints and the calculation of motion information of other joints in the lower limb kinematic chain based on inverse kinematics. An experiment and a virtual maintenance training platform of a transfer case have proved the validity and practicability of the proposed method.