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Autonomous Robots

Erschienen in:

01.01.2016

Generation of human walking paths

verfasst von: Alessandro Vittorio Papadopoulos, Luca Bascetta, Gianni Ferretti

Erschienen in: Autonomous Robots | Ausgabe 1/2016

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Abstract

This work investigates the way humans plan their paths in a goal-directed motion, assuming that a person acts as an optimal controller that plans the path minimizing a certain (unknown) cost function. Taking this viewpoint, the problem can be formulated as an inverse optimal control one, i.e., starting from control and state trajectories one wants to figure out the cost function used by a person while planning the path. The so-obtained model can be used to support the design of safe human–robot interaction systems, as well as to plan human-like paths for humanoid robots. To test the envisaged ideas, a set of walking paths of different volunteers were recorded using a motion capture facility. The collected data were used to compare two solutions to the inverse optimal control problem coming from the literature to a novel one. The obtained results, ranked using the discrete Fréchet distance, show the effectiveness of the proposed approach.

Vorheriger Artikel From passive to interactive object learning and recognition through self-identification on a humanoid robot

Nächster Artikel An optimal data association method based on the minimum weighted bipartite perfect matching

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This conclusion has been however the subject of some criticisms in Bretl et al. (2010).

Note that, considering the assumption of natural forward locomotion, the unicycle and the extended unicycle are the only models that appeared in the literature on planning human walking paths.

Given two curves $\phi :\left[ a,b\right] \rightarrow V$ and $\gamma :\left[ a',b'\right] \rightarrow V$, their Fréchet distance is defined as

$$\begin{aligned} \delta _F(\phi ,\gamma ) = \underset{\alpha ,\beta }{\inf }~ \underset{t\in \left[ 0,1\right] }{\max }\quad d\left( \phi \left( \alpha \left( t\right) \right) ,\gamma \left( \beta \left( t\right) \right) \right) \end{aligned}$$

(11)

where $\alpha $ and $\beta $ are arbitrary continuous non-decreasing function from $\left[ 0,1\right] $ onto $\left[ a,b\right] $ and $\left[ a',b'\right] $ respectively.

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Titel: Generation of human walking paths
verfasst von: Alessandro Vittorio Papadopoulos
Luca Bascetta
Gianni Ferretti
Publikationsdatum: 01.01.2016
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 1/2016
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-015-9443-2

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