Human-robot co-navigation using anticipatory indicators of human walking motion

Vaibhav V. Unhelkar, Claudia Perez-D'Arpino, Leia Stirling, Julie A. Shah
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Mobile, interactive robots that operate in humancentric environments need the capability to safely and efficiently navigate around humans. This requires the ability to sense and predict human motion trajectories and to plan around them. In this paper, we present a study that supports the existence of statistically significant biomechanical turn indicators of human walking motions. Further, we demonstrate the effectiveness of these turn indicators as features in the prediction of human motion
more » ... jectories. Human motion capture data is collected with predefined goals to train and test a prediction algorithm. Use of anticipatory features results in improved performance of the prediction algorithm. Lastly, we demonstrate the closedloop performance of the prediction algorithm using an existing algorithm for motion planning within dynamic environments. The anticipatory indicators of human walking motion can be used with different prediction and/or planning algorithms for robotics; the chosen planning and prediction algorithm demonstrates one such implementation for human-robot conavigation.
doi:10.1109/icra.2015.7140067 dblp:conf/icra/UnhelkarPSS15 fatcat:2mkgdgk4f5ff5np3gkrit6cvku