An Inverse Kinematics Model for the lower body Motion : Implementation of the Fabrik-Algorithm as part of a Motion tracking Pipeline

Abstract

In this thesis a custom-made benchmark environment for a humanoid lower-body model and inverse kinematics algorithm shall be implemented. It can then be used to compare metrics of the execution of the algorithms and the accuracy of the models. Motion tracking technology is used to furthermore get position measurements of lower body markers and map them to the joints set of the researched model. Comparing the motion tracking measurements with the trajectories of joints calculated by the specified algorithm will be the core of this thesis.