TY - GEN
T1 - Service robot using estimation of body direction based on gait for human-robot interaction
AU - Yorozu, Ayanori
AU - Takahashi, Masaki
N1 - Funding Information:
Acknowledgement. This study was supported by JSPS KAKENHI Grant Number 17K14619 and “A Framework PRINTEPS to Develop Practical Artificial Intelligence” of the Core Research for Evolutional Science and Technology (CREST) of the Japan Science and Technology Agency (JST) under Grant Number JPMJCR14E3.
Publisher Copyright:
© 2019, Springer Nature Switzerland AG.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
KW - Gait measurement
KW - Human-robot interaction
KW - Kalman filter
KW - Service robots
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U2 - 10.1007/978-3-030-01370-7_16
DO - 10.1007/978-3-030-01370-7_16
M3 - Conference contribution
AN - SCOPUS:85059895480
SN - 9783030013691
T3 - Advances in Intelligent Systems and Computing
SP - 199
EP - 209
BT - Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
A2 - Dillmann, Rüdiger
A2 - Menegatti, Emanuele
A2 - Ghidoni, Stefano
A2 - Strand, Marcus
PB - Springer Verlag
T2 - 15th International Conference on Intelligent Autonomous Systems, IAS 2018
Y2 - 11 June 2018 through 15 June 2018
ER -