Master Motor Map
In humanoid robotics , the Master Motor Map (MMM for short) is used as a conceptual framework for perception, reproduction, visualization and recognition of human movements. The models can be converted for different kinematics. The Master Motor Map offers interfaces and data structures for exchanging motor information between body entities.
All observation modules ( motion capture ) convert their output into the MMM reference model and the MMM data format. The MMM, in turn, can be converted by any robot for its internal representation.
The Master Motor Map is used in the design of robots , the imitation of human actions, movement perception and the visualization of human movements.
The advantage of the Master Motor Map is that the modules can be exchanged ( perception , visualization and reproduction ).
Reference model of the human body
The Master Motor Map contains a reference model of the human body. This consists of the following models:
- Kinematic model: joints and segment lengths
- Dynamic model: weight / centers of gravity of the segments and inertia tensors
- Statistical / anthropomatic model: segment properties that are defined as a function of global parameters
- 104 degrees of freedom
Individual evidence
- ^ Stefan Gärtner: Master Motor Map. Karlsruhe Institute of Technology - Humanoids and Intelligence Systems Lab, May 31, 2012, accessed on September 7, 2017 .