The HuMAnS toolbox, a homogenous framework for motion capture, analysis and simulation

Pierre-Brice Wieber (1) , Florence Billet (1) , Laurence Boissieux (2) , Roger Pissard-Gibollet (2)

1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
2 SED [Grenoble] - Service Expérimentation et Développement

Primarily developed for research needs in humanoid robotics, the HuMAnS toolbox (for Humanoid Motion Analysis and Simulation) also includes a biomechanical model of a complete human body, and proposes a set of versatile tools for the modeling, the capture, the analysis and the simulation of human and humanoid motion. This set of tools is organized as a homogenous framework built on top of the numerical facilities of Scilab, a free generic scientific package, so as to allow genericity and versatility of use, in the hope to enable a new dialogue between direct and inverse dynamics, motion capture and simulation, all of this in a rich scientific software environment. Noticeably, this toolbox is an open-source software, distributed under the GPL License.

Domaines: Robotique [cs.RO]; Modélisation et simulation; Biomécanique [physics.med-ph]; Biomécanique [physics.med-ph]

Pierre-Brice Wieber, Florence Billet, Laurence Boissieux, Roger Pissard-Gibollet. The HuMAnS toolbox, a homogenous framework for motion capture, analysis and simulation. International Symposium on the 3D Analysis of Human Movement, 2006, Valenciennes, France. ⟨inria-00390447⟩