A system that is implemented into a home robot for human chasing and walking parameters acquisition is proposed in this study. This system will be a key component of our biofied building that interfaces residents and buildings so that the building spaces can be safer, more comfortable and more convenient. The human chasing algorithm is able to estimate aging status of a resident by acquiring walking parameters while the robot is chasing the resident behind. The walking parameters include knee joint angle, stride time, stride length and walking speed.
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