Paper Info
Title
Human-robot interaction based on wearable IMU sensor and laser range finder
Abstract
Service robots are not only expected to navigate within the environment, as they also will may with people. Human tracking by mobile robots is essential for service robots and human interaction applications. In this work, the goal is to add a more natural robot-human following in front based on the normal human gait model. This approach proposes implementing and evaluating a human-robot interaction strategy, using the integration of a LRF (Laser Range Finder) tracking of human legs with wearable IMU (Inertial Measurement Unit) sensors for capturing the human movement during the gait. The work was carried out in four stages: first, the definition of the model of human-robot interaction and the control proposal were developed. Second, the parameters based on the human gait were estimated. Third, the robot and sensor integration setup are also proposed. Finally, the description of the algorithm for parameters detection is presented. In the experimental study, despite of the continuous oscillation during the walking, the parameters estimation was precise and unbiased, showing also repeatability with human linear velocities changes. The controller was evaluated with an eight-shaped curve, showing the stability of the controller even with sharp changes in the human path during real experiments.
Year
DOI
Venue
2014
10.1016/j.robot.2014.06.001
Robotics and Autonomous Systems
Keywords
Field
DocType
human tracking,human-robot interaction,imu sensor,laser range finder,human robot interaction
Computer vision,Control theory,Gait,Simulation,Wearable computer,Computer science,Artificial intelligence,Inertial measurement unit,Gait (human),Robot,Mobile robot,Human–robot interaction
Journal
Volume
Issue
ISSN
62
10
0921-8890
Citations 
PageRank 
References 
7
0.66
17
Authors
4
Name
Order
Citations
PageRank
Carlos A. Cifuentes1196.39
Anselmo Frizera22510.89
Ricardo Carelli327833.02
Teodiano freire Bastos481.72