Construction Of A General Motion Editing System For Human Body And Humanoid Robots

In this paper, a general body motion editing system for 3D body motion is constructed. The input of the system accepts any human-like structure according to a specified file designation. The body models are imported using STL format. The user interface is designed for intuitive 3D manipulation just as operating a video recorder. The software system includes three main functions: motion editing, interpolation, and replication. There are three teaching modes available in world coordinate, local coordinate, and joint coordinate. For editing or retouching existing motions, users can easily choose a key frame to teach, and save the posture as a body motion staff (BMS). Several motion interpolation methods are provided to simulate different body motion characteristics. The BMS between the key frames are generated. The BMS can be used to edit and analyze body motions just like the musical staff does to the music.