2010 Fiscal Year Final Research Report

Identification of mass parameters and human recognition based on dynamics computations

Research Project

Project/Area Number	21800017
Research Category	Grant-in-Aid for Research Activity Start-up
Allocation Type	Single-year Grants
Research Field	Intelligent informatics
Research Institution	Tokyo University of Agriculture and Technology
Principal Investigator	VENTURE Gentiane Tokyo University of Agriculture and Technology, 大学院・工学研究院, 准教授 (30538278)
Project Period (FY)	2009 – 2010
Keywords	ロボティクス
Research Abstract	With this research, we examine the possible developments of the experimental set-up to apply widely our identification method. We use the results of the identification to perform individual classification. In order to compute the human body dynamics, contact force data and motion data are mandatory. So far they have been measured by force-plates and optical motion capture systems. However these systems are for research purpose only and cannot be widely used. We propose to perform the identification by measuring solely the contact forces. We checked the feasibility of this method. We also prose to replace the optical system by a fusion of stereo camera and gyro sensors, in order to develop a marker-less motion capture system.

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