@inproceedings{120af95584424bfcb4b76b77b82abd1e,
title = "Pedalvatar: An IMU-based real-time body motion capture system using foot rooted kinematic model",
abstract = "In this paper, we present a low-cost IMU-based system, Pedalvatar, which can capture the full-body motion of users in real-time. Unlike the prior approaches using the hip-joint as the root of forward kinematic model, a foot-rooted kinematic model is developed in this work. A state change mechanism has also been investigated to allow dynamically switching the root of kinematic trees between the left and the right foot. Benefitted from this, full-body motions can be well captured in our system as long as there is at least one static foot in the movement. The 'floating' artifact of hip-joint rooted methods has been eliminated in our approach, and more complicated motions such as climbing stairs can be successfully captured in real-time. Comparing to those vision-based systems, this IMU-based system provides more flexibility on capturing outdoor motions that are important for many robotic applications.",
author = "Yang Zheng and Chan, {Ka Chun} and Wang, {Charlie C.L.}",
year = "2014",
month = oct,
day = "31",
doi = "10.1109/IROS.2014.6943144",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "IEEE",
pages = "4130--4135",
booktitle = "IROS 2014 Conference Digest",
address = "United States",
note = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",
}