Microsoft Kinect has been widely used due to its advantages of low price and high frame rate. The intelligent training and assessment of gymnastics movements require studying motion trajectory and reconstructing the character animation.

Figure 8 also shows that ZMP tra- jectory has significant deviations nearby footstep positions, which could be explained with the limitations of MoCap system measure- ment accuracy. It means that the human gait was properly balanced, satisfying the criteria of static (GCoM) and dynamic (ZMP) stability, except the fi- nal part of the trajectory at the coordinate 2 m, where ZMP curve lies outside of the support area.

Figure 8 demonstrates that both GCoM and ZMP trajectories are localized close to the footsteps and support polygons. The footsteps (i.e., par- ticular footprints) were approximated by ellipses taking into an ac- count RFoot, RToe and RToeEnd coordinates (according to Fig. The solid curve repre- sents the ZMP trajectory and the dashed curve represents the CoM projection trajectory on the ground plane. results of ZMP and GCoM trajectories calculations on the ground plane which were computed from human body dynamics (based on the simplified approximation of the human body as a single weight point) are shown in Fig.

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