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

Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
編集者Rüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
出版社Springer Verlag
ページ199-209
ページ数11
ISBN(印刷版)9783030013691
DOI
出版ステータスPublished - 2019
イベント15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
継続期間: 2018 6月 112018 6月 15

出版物シリーズ

名前Advances in Intelligent Systems and Computing
867
ISSN(印刷版)2194-5357

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンス(全般)

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