| KIT Whole-Body Human Motion Database

Database: Motions

With the KIT Whole-Body Human Motion Database, we aim to provide a simple way of sharing high-quality motion capture recordings of human whole-body motion. The database is run by the High Performance Humanoid Technology (H²T) Lab.

Motion information
Motion descriptions:
Projects:
Datasets:
Institution:
Subjects:
Objects:
Advanced MDT search term:
(please refer to the FAQ)
Further information
Advanced MDT Search
E.g. "run OR (walk AND NOT(slow))": Returns all motions where the subject is running or walking, but not slow.
Name & Description Institution & Project Motion descriptions Contains Preview Files
Motion #3552

The subject performs the scenario preparing grilled vegetables containing specific series of tasks such as grilling vegetables and filling a glas with apple juice. The order of fulfilling each task a…

Karlsruhe Institute of Technology (KIT)
right handed
walk
close
cut
lift
mix
open
peel
pour
scoop
transfer
stand
Subject #1723
apple_juice
apple_juice_lid
cucumber_attachment
cup_large
cutting_board_small
eggplant_attachment
frying_pan
go_pro_new
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
knife_black
mixing_bowl_big
mixing_bowl_green
oil_bottle
peeler
plate_dish
salad_fork
salad_spoon
spatula
0 public files attached
(6 protected files hidden)
Motion #3553

The subject performs the scenario preparing vegetable omelette containing specific series of tasks such as grilling vegetables and filling a glas with apple juice. The order of fulfilling each task a…

Karlsruhe Institute of Technology (KIT)
right handed
walk
close
cut
lift
mix
open
peel
pour
scoop
stir
transfer
stand
Subject #1723
apple_juice
apple_juice_lid
cucumber_attachment
cup_large
cup_small
cutting_board_small
eggplant_attachment
egg_whisk
frying_pan
go_pro_new
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
knife_black
mixing_bowl_big
mixing_bowl_green
oil_bottle
peeler
plate_dish
spatula
0 public files attached
(5 protected files hidden)
Motion #3554

The subject performs the scenario preparing pizza containing specific series of tasks such as rolling out a dough and preparing a pizza. The order of fulfilling each task and the interaction with obj…

Karlsruhe Institute of Technology (KIT)
right handed
walk
cut
lift
peel
roll out
transfer
stand
Subject #1747
cucumber_attachment
cutting_board_small
eggplant_attachment
frying_pan
go_pro_new
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
knife_black
mixing_bowl_green
peeler
rolling_pin
salad_spoon
0 public files attached
(6 protected files hidden)
Motion #3555

The subject performs the scenario preparing pizza containing specific series of tasks such as rolling out a dough and preparing a pizza. The order of fulfilling each task and the interaction with obj…

Karlsruhe Institute of Technology (KIT)
right handed
walk
cut
lift
peel
roll out
transfer
stand
Subject #1723
cucumber_attachment
cutting_board_small
eggplant_attachment
frying_pan
go_pro_new
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
knife_black
mixing_bowl_green
peeler
rolling_pin
salad_spoon
0 public files attached
(5 protected files hidden)
Motion #3556

The subject performs the scenario preparing grilled vegetables containing specific series of tasks such as grilling vegetables and filling a glas with apple juice. The order of fulfilling each task a…

Karlsruhe Institute of Technology (KIT)
right handed
walk
close
cut
lift
mix
open
peel
pour
scoop
transfer
stand
Subject #1480
apple_juice
apple_juice_lid
cucumber_attachment
cup_large
cutting_board_small
eggplant_attachment
frying_pan
go_pro_new
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
knife_black
mixing_bowl_big
mixing_bowl_green
oil_bottle
peeler
plate_dish
salad_fork
salad_spoon
spatula
0 public files attached
(6 protected files hidden)
Motion #3557

The subject performs the scenario preparing vegetable omelette containing specific series of tasks such as grilling vegetables and filling a glas with apple juice. The order of fulfilling each task a…

Karlsruhe Institute of Technology (KIT)
right handed
walk
close
cut
lift
mix
open
peel
pour
scoop
stir
transfer
stand
Subject #1480
apple_juice
apple_juice_lid
cucumber_attachment
cup_large
cup_small
cutting_board_small
eggplant_attachment
egg_whisk
frying_pan
go_pro_new
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
knife_black
mixing_bowl_big
mixing_bowl_green
oil_bottle
peeler
plate_dish
spatula
0 public files attached
(5 protected files hidden)
Motion #3558

The subject performs the scenario preparing pizza containing specific series of tasks such as rolling out a dough and preparing a pizza. The order of fulfilling each task and the interaction with obj…

Karlsruhe Institute of Technology (KIT)
right handed
walk
cut
lift
peel
roll out
transfer
stand
Subject #1480
cucumber_attachment
cutting_board_small
eggplant_attachment
frying_pan
go_pro_new
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
knife_black
mixing_bowl_green
peeler
rolling_pin
salad_spoon
0 public files attached
(6 protected files hidden)
Motion #3559

The subject performs the scenario cleaning up containing specific series of tasks such as wiping the dishes and sweeping the floor. The order of fulfilling each task and the interaction with objects …

Karlsruhe Institute of Technology (KIT)
right handed
walk
lift
sweep
wipe
stand
Subject #3527
broom
cutting_board_small
draining_rack
go_pro
kinect_azure_new
kitchen_sideboard
kitchen_sideboard_long
mixing_bowl_green
plate_dish
sponge_small
0 public files attached
Motion #3772

A1 (Self-Handover) – Subject A stands at the table, with objects lying on the right side of the table. They grasp each object with their right hand, perform a self-handover to their left hand, and pl…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple
cucumber
cutting_board_small
kinect_azure_new
kitchen_sideboard
poster_roll
0 public files attached
Motion #3773

A2 (Human-Human Handover) – Objects lie on the right side of the table. Subject A stands next to them, while Subject B stands at the other end of the table. Subject A grasps each object, hands it ove…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple
cucumber
cutting_board_small
kinect_azure_new
kitchen_sideboard
poster_roll
0 public files attached
Motion #3774

A3 (Human-Robot Handover) – Subject A stands in front of the robot and has the apple juice in their hand. They hand over the juice to the robot, which is controlled via teleoperation. After a pause, …

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple_juice
kinect_azure
0 public files attached
Motion #3775

B1 (Bimanual Tray Carrying) – Subject A stands at the long side of the table, close to one end of the table. The tray, with the blue cup and the apple on top of it, stands in front of them. The subje…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple
cup_large
kinect_azure_new
kitchen_sideboard
lifted_tray
0 public files attached
Motion #3776

B2 (Collaborative Tray Carrying) – Subject A and B stand on opposite sides of the table, close to one end of the table. Between them, the tray is placed, with the blue cup and the apple on top of it.…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple
cup_large
kinect_azure_new
kitchen_sideboard
lifted_tray
0 public files attached
Motion #3777

B3 (Table Carrying) – Subject A and B stand on opposite ends of the table. They carry the table, with Subject A using one hand and Subject B using two hands.

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
kinect_azure_new
kitchen_sideboard
0 public files attached
(1 protected file hidden)
Motion #3778

C1 (Tray Unloading) – The apple, the apple juice, and the blue cup are placed on the tray. Subject A brings the tray to Subject B, who takes the apple. Subject A brings the tray away.

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple
apple_juice
cup_large
kinect_azure_new
lifted_tray
0 public files attached
Motion #3779

C2 (Tray Loading) – The apple juice and the blue cup are placed on the tray. Subject A brings the tray to Subject B, who holds the apple in their hand, and places the apple on the tray. Subject A tak…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple
apple_juice
cup_large
kinect_azure_new
lifted_tray
0 public files attached
Motion #3780

D1 (Pour Twice with Lifting) – Subject A and B are standing on opposite sides of the table. Each of them has a cup in front of them. The apple juice is standing next to Subject A. Subject B lifts the…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple_juice
Cup
cup_large
kinect_azure_new
kitchen_sideboard
0 public files attached
Motion #3781

D2 (Pour Twice with Pushing) – Subject A and B are standing on opposite sides of the table. Each of them has a cup in front of them. The apple juice is standing next to Subject A. Instead of lifting,…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple_juice
Cup
cup_large
kinect_azure_new
kitchen_sideboard
0 public files attached
Motion #3782

D3 (Serve Drink) – Subject A stands at the table, with the green cup in front of them. Subject B holds the apple juice in their hand, walks to the table, and pours into the cup, which is lifted by Su…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple_juice
Cup
kinect_azure_new
kitchen_sideboard
0 public files attached
Motion #3783

D4 (Robot Stabilising Cup) – The ARMAR-7 humanoid robot stands at the table, on which the blue cup is placed. Subject A holds the apple juice in their hand, walks to the table, and pours into the cup…

Karlsruhe Institute of Technology (KIT)
Subject #3766
Subject #3769
apple_juice
cup_large
kinect_azure_new
kitchen_sideboard
0 public files attached