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Published in:
2012 | OriginalPaper | Chapter
Development of a Virtual Humanoid Model Using the Denavit-Hartenberg Parameters as a Base for Visual Feedback Applications
Authors : Davinia Font, Tomàs Pallejà, Mercè Teixidó, Marcel Tresanchez, Jordi Palacín
Published in: Advances in Automation and Robotics, Vol.1
Publisher: Springer Berlin Heidelberg
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In this paper a virtual humanoid model based on the Denavit-Hantenberg (DH) parameters is described and proposed as a base for the development of future visual feedback applications to estimate human position, pose or motion. The virtual humanoid can replicate human body poses, has the center of the coordinate system located on the pelvis, and the stand up is the reference or zero pose. The position and orientation of the humanoid body links are determined according the DH frame conventions and the image of the model can be used in additional visual feedback applications.