The Robotics Institute

RI | Centers | CFR | Seminar

Foundations of Robotics Seminar, October 25, 2006
Time and Place | Seminar Abstract | Speaker Biography | Presentation Slides | Speaker Appointments

Fitting Joint Models to Motion Capture Data

Lillian Chang


Time and Place

Smith Hall 100
Refreshments 4:15 pm
Talk 4:30 pm





Human motion analysis can be used to synthesize captivating animation, evaluate biomechanical function, and inspire humanoid robot design. A key component of movement analysis is the skeletal model used to represent the body’s kinematics. Subject-specific models are desirable for accurately describing anthropomorphic dimensions and capturing individual style. In this talk, I will present techniques for fitting joint models to motion capture data which have improved robustness over the existing least squares methods. Two problems are considered: estimating the center of rotation of a ball joint and estimating the axis of rotation of a hinge joint. For both joint models, careful selection of an objective function with appropriate geometric properties is key to developing intuitive methods which are robust to joint range of motion. Finally, I will conclude with a discussion of the challenges associated with marker-based approaches for human movement analysis.




Speaker Appointments

For appointments, please contact Lillian Chang (

The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.