Service robot using estimation of body direction based on gait for human-robot interaction

Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, there have been several studies on the research and development of service robots, and experimental results in real environments have been reported. To realize socially acceptable human-robot interaction for service robots, human recognition, including not only position but also body direction, around the robot is important. Using an RGB-D camera, it is possible to detect the posture of a person. However, because the viewing angle of the camera is narrow, it is difficult to recognize the environment around the robot with a single device. This study proposes the estimation of the body direction based on the gait, that is, not only the position and velocity, but also the state of the legs (stance or swing phase), using laser range sensors installed at shin height. We verify the effectiveness of the proposed method for several patterns of movement, which are seen when a person interacts with the service robot.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
EditorsRüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
PublisherSpringer Verlag
Pages199-209
Number of pages11
ISBN (Print)9783030013691
DOIs
Publication statusPublished - 2019 Jan 1
Event15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
Duration: 2018 Jun 112018 Jun 15

Publication series

NameAdvances in Intelligent Systems and Computing
Volume867
ISSN (Print)2194-5357

Other

Other15th International Conference on Intelligent Autonomous Systems, IAS 2018
CountryGermany
CityBaden-Baden
Period18/6/1118/6/15

Keywords

  • Gait measurement
  • Human-robot interaction
  • Kalman filter
  • Service robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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  • Cite this

    Yorozu, A., & Takahashi, M. (2019). Service robot using estimation of body direction based on gait for human-robot interaction. In R. Dillmann, E. Menegatti, S. Ghidoni, & M. Strand (Eds.), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15 (pp. 199-209). (Advances in Intelligent Systems and Computing; Vol. 867). Springer Verlag. https://doi.org/10.1007/978-3-030-01370-7_16