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Gait Measurement for Human Behavior Estimation Against Autonomous Mobile Robot

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

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Abstract

To realize a safe collision avoidance of autonomous mobile robots, understanding human behavior against the robots is important. This paper has proposed a gait measurement method for human behavior estimation against autonomous mobile robot. The proposed method using a laser range sensor consists of five observed leg patterns recognition and global nearest neighbor (GNN)-based data association with a variable validation region based on the state of each leg. To verify the effectiveness of the proposed system, a verification test in a hospital that staff is recruited as participants were carried out. From the experimental results in the hospital, we confirm that the proposed method can reduce the chance of losing track of both legs and the variable validation region can reduce the chance of false tracking.

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Acknowledgments

This work was supported by Grant-in-Aid for Japan Society for the Promotion of Science (JSPS) Fellows Grant Number 25-5707 and JSPS KAKENHI Grant Number 25709015. We would like to thank the members of Graduate School of Dentistry Osaka University and Research & Development Division of Murata Machinery, LTD. for their help with data collection.

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Authors and Affiliations

  1. School of Science for Open and Environmental Systems, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, 223-8522, Yokohama, Japan

    Ayanori Yorozu

  2. Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, 223-8522, Yokohama, Japan

    Masaki Takahashi

Authors
  1. Ayanori Yorozu
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  2. Masaki Takahashi
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Corresponding author

Correspondence to Ayanori Yorozu .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Yorozu, A., Takahashi, M. (2016). Gait Measurement for Human Behavior Estimation Against Autonomous Mobile Robot. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_74

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_74

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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