Service Robot Using Estimation of Body Direction Based on Gait for Human-Robot Interaction
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.
KeywordsService robots Human-robot interaction Gait measurement Kalman filter
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.
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