| 研究課題/領域番号 |
14F04768
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| 研究機関 | 東京農工大学 |
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研究代表者 |
Venture Gentiane 東京農工大学, 工学(系)研究科(研究院), 准教授 (30538278)
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| 研究分担者 |
BONNET VINCENT 東京農工大学, 工学(系)研究科(研究院), 外国人特別研究員
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| 研究期間 (年度) |
2014-04-25 – 2017-03-31
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| キーワード | inverse kinematics / inverse dynamics / Extended Kalman filter / motion analysis |
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| 研究実績の概要 |
The candidate has managed to fulfill most of his ambitious goals. We have developed a new algorithm that allows for solving both kinematics and dynamics at the same time using extended Kalman filters. It gives an estimate in real time.
The method has been tested on real human data with a very high accuracy for simple human models.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
1: 当初の計画以上に進展している
理由
The research has progressed according to the research plan and no delay has been noticed. The new algorithm that allows for solving both kinematics and dynamics at the same time using extended Kalman filters. It gives an estimate in real time.
The method has then been tested on data collected on real humans.Our algorithm performs much better than other algorithm for simple human models.
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| 今後の研究の推進方策 |
The candidate research will continue in implementing the algorithm for more complex 3D human models and a variety of tasks and situations. Work on dynamic quantities is also scheduled. For example estimating the ground reaction forces frmo the data obtained by the previous algorithm.
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