Whole-body human reference model and tools for unifying representations of whole-body human motion
Master Motor Map (MMM) is a conceptual framework for perception, visualization, reproduction, and recognition of human motion in order to decouple motion capture data from further post-processing tasks, such as execution on a real humanoid robot. Employing MMM makes it easy to map motions between different kinematics independently and uniformly as well as to analyze certain dynamic aspects of the considered motion.MMM
Part of this framework is a dynamic model consisting of a particular kinematic structure enriched with pre-defined segment properties (anthropometric data) e.g. mass distribution, segment length, moment of inertia, etc. Moreover, the strategy is to define the maximum number of DoFs that might be used by any visualization, recognition, or reproduction module.
We provide a modular C++ framework, which consists of the following packages:
The Master Motor Map (MMM) Framework is used within the European projects KoroiBot (grant agreement no. 611909), WALK-MAN (grant agreement no. 611832), Xperience (grant agreement no. 270273), PACO-PLUS (grant agreement no. 027657), SecondHands (grant agreement no. 643950), TimeStorm (grant agreement no. 641100), and I-SUPPORT (grant agreement no. 643666) funded by the European Union, as well as within the German national projects Collaborative Research Project on Humanoid Robots (SFB 588) and the priority program "Autonomous Learning" (SPP 1527, subprojects REBA and REBA+) funded by the German Research Foundation (DFG).