Development of A Walking-Trajectory Measurement System

Nina Tajima, Koichiro Kato, Daigo Kurokawa, Nobuto Matsuhira, Kanako Amano, Yuka Kato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, robots have attracted attention to provide a supplemental workforce in Japan as the working population decreases. A reception and response control system using the interface robot ApriPoco™ has been studied, measuring human walking trajectories using a laser range finder, but accurate measurements have been impeded by overlapping people and trajectories leading to missing data. Therefore, in this paper, we propose a system that uses Gaussian process regression to predict human trajectories in addition to the conventional system. Three-directional walking experiments were conducted with groups of one, three, and five people, and the trajectories of the conventional and proposed systems were compared. The experimental results show that the proposed system has fewer missing data than the conventional system and can obtain more accurate trajectories. We also demonstrated human walking-trajectory measurement at a public museum to confirm the effectiveness of this system. In the future, we plan to build a reception system by linking this system with robots.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages920-925
Number of pages6
ISBN (Electronic)9781665441001
DOIs
Publication statusPublished - 2021 Aug 8
Event18th IEEE International Conference on Mechatronics and Automation, ICMA 2021 - Takamatsu, Japan
Duration: 2021 Aug 82021 Aug 11

Publication series

Name2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021

Conference

Conference18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Country/TerritoryJapan
CityTakamatsu
Period21/8/821/8/11

Keywords

  • Gaussian process regression
  • Human-Robot Interaction
  • Laser Range Finder
  • trajectory measurement

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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