人-人形行走步态识别

V. Hafner, F. Bachmann
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引用次数: 8

摘要

本文研究了一个典型的类人问题,即行走步态问题。在人形机器人上创造稳定的行走步态是世界上许多机器人专家正在解决的问题。我们希望关注一个经常被忽视的类似问题:识别人类和类人机器人的不同行走行为。我们介绍了一种基于加速度计数据能够识别人以及他们当前行走行为的方法。这是所有类人模仿和交互任务的重要技能和先决条件。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Human-Humanoid walking gait recognition
This paper addresses a typical humanoid problem, that of walking gaits. Creating a stable walking gait on a humanoid robot is a problem that is addressed by many roboticists worldwide. We want to focus on a similar issue that is often overlooked: recognition of different walking behaviours in humans and humanoid robots. We introduce a method that is able to recognise persons as well as their current walking behaviour based on accelerometer data. This is an important skill and prerequisite for all human-humanoid imitation and interaction tasks.
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