基于传感原理的虚拟仿生模型的动作设计
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摘要
系统以惯性传感器的数据采集为硬件基础,借助ARDUINO开发平台,在Unity3D软件中实现了虚拟仿生模型的动作设计。基于仿生模型的三维姿态解算原理,设计并渲染了虚拟的手臂仿生模型,依此剖析模型的姿态变化方式;根据手臂模型的3D脚本控制,实现模型节点角度的三维空间变化;在惯性传感器的应用基础上,完成固定于测试者手臂上的三个传感节点的数据采集,并通过ARDUINO开发平台将角度数据传至上位机。在上位机3D视频软件中,通过挂接模型的脚本文档,将硬件获取的角度数据与虚拟手臂模型的3个节点的transform组件相关联,实现虚拟仿生动作与测试者实际动作的同步变化,同时达到了虚拟模型的动作捕捉设计的基本要求。
Based on the data acquisition of inertial sensors,with ARDUINO development platform,we have realized the action design of virtual bionic model in the Unity 3 D software. Adopting the principle of three-dimensional attitude calculation of bionic model,we design and render a virtual arm bionic model,and then analyze the posture change mode of the model. According to the 3 D script control of the arm model,three-dimensional spatial change of the node angle of the model is realized. On the basis of the application of inertial sensors,the data collection of three sensor nodes which are fixed on the arm of the tester has been completed,and the angle data is transmitted to the upper computer through the ARDUINO development platform. In the host computer 3 D video software,the angle data obtained by the hardware is associated with the transform component of 3 nodes of the virtual arm model by hanging the script document of the model. It realizes the synchronous change of virtual bionic action and the actual action of the tester,and at the same time,achieves the basic requirements of the motion capture design of the virtual model.
Based on the data acquisition of inertial sensors,with ARDUINO development platform,we have realized the action design of virtual bionic model in the Unity 3 D software. Adopting the principle of three-dimensional attitude calculation of bionic model,we design and render a virtual arm bionic model,and then analyze the posture change mode of the model. According to the 3 D script control of the arm model,three-dimensional spatial change of the node angle of the model is realized. On the basis of the application of inertial sensors,the data collection of three sensor nodes which are fixed on the arm of the tester has been completed,and the angle data is transmitted to the upper computer through the ARDUINO development platform. In the host computer 3 D video software,the angle data obtained by the hardware is associated with the transform component of 3 nodes of the virtual arm model by hanging the script document of the model. It realizes the synchronous change of virtual bionic action and the actual action of the tester,and at the same time,achieves the basic requirements of the motion capture design of the virtual model.
引文
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[11] 袁铨,张建中,姜衔,等.动态3维场景中多角色动画的交互式模拟研究[J].中国图象图形学报,2011,16(6):1070-1079.
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[13] BIRKELUND K,JOHANSEN J A.Improved bispectrum ba-sed tests for Gaussianity and linearity[J].Signal Processing,2009,89(12):2537-2546.
[14] 马纪军,李铁,贾军,等.一种基于Kalman滤波的跟踪控制方法[J].遥测遥控,2016,37(1):31-37.
[15] 王书湖,齐世举,刘宏刚,等.基于Arduino的陀螺仪模拟训练系统设计[J].科学技术与工程,2013,13(21):6302-
6305.
[2] 刘福林.仿生学发展过程的分析[J].安徽农业科学,2007,35(15):4404-4405.
[3] 戴琼海.大力发展三维显示等关键技术助力虚拟/增强现实迈进新时代[J].科技导报,2018,36(9):1.
[4] KIM S,NUSSBAUM M A.Performance evaluation of a wearable inertial motion capture system for capturing physical exposures during manual material handling tasks[J].Ergonomics,2013,56(2):314-326.
[5] ZHU Rong,ZHOU Zhaoying.A real-time articulated human motion tracking using tri-axis inertial/magnetic sensors package[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2004,12(2):295-302.
[6] 张平平.大范围运动过程中人体下肢动作捕捉系统设计[J].现代电子技术,2018,41(3):88-91.
[7] 相瑞排,石广田,李帅.机械式运动捕捉系统应用中的若干问题研究[J].兰州交通大学学报,2013,32(4):44-47.
[8] 刘震,王雪梅,倪文波.基于MEMS传感器的高精度姿态角测量研究[J].中国测试,2017,43(2):6-12.
[9] JUNG P G,OH S,LIM G,et al.A mobile motion capture system based on inertial sensors and smart shoes[J].Journal of Dynamic Systems,Measurement,and Control,2014,136(1):011002.
[10] 张衡,张泽宇.基于MEMS传感器和Unity3D的人体运动捕获系统[J].图学学报,2015,36(2):274-281.
[11] 袁铨,张建中,姜衔,等.动态3维场景中多角色动画的交互式模拟研究[J].中国图象图形学报,2011,16(6):1070-1079.
[12] ABOLHASANI M R.Robust Kalman filtering for discrete-time systems with stochastic uncertain time-varying parameters[J].Electronics Letters,2017,53(3):146-148.
[13] BIRKELUND K,JOHANSEN J A.Improved bispectrum ba-sed tests for Gaussianity and linearity[J].Signal Processing,2009,89(12):2537-2546.
[14] 马纪军,李铁,贾军,等.一种基于Kalman滤波的跟踪控制方法[J].遥测遥控,2016,37(1):31-37.
[15] 王书湖,齐世举,刘宏刚,等.基于Arduino的陀螺仪模拟训练系统设计[J].科学技术与工程,2013,13(21):6302-
6305.