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Computer Science > Robotics

arXiv:2108.12358 (cs)
[Submitted on 27 Aug 2021]

Title:Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction

Authors:Yash Vyas, Mike Allenspach, Christian Lanegger, Roland Siegwart, Marco Tognon
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Abstract:An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model. We designed an Extended Kalman Filter (EKF) algorithm to estimate the frequency, bias and trigonometric state of a biased sinusoidal signal, from which the kinematic parameters of the Yoyo-model can be extracted. Quality and robustness of the estimation are improved by opportune filtering based on heuristics. The approach is successfully evaluated on a real dataset of walking humans, including complex trajectories and changing step frequency over time.
Comments: To be published in The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, 4-5/10/2021
Subjects: Robotics (cs.RO)
Cite as: arXiv:2108.12358 [cs.RO]
  (or arXiv:2108.12358v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.12358

Submission history

From: Yash Vyas [view email]
[v1] Fri, 27 Aug 2021 15:47:16 UTC (1,191 KB)
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