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

Content Provider	IEEE Xplore Digital Library
Author	Unhelkar, V.V. Perez-D'Arpino, C. Stirling, L. Shah, J.A.
Copyright Year	2015
Description	Author affiliation: Comput. Sci. & Artificial Intell. Lab. (CSAIL), Massachusetts Inst. of Technol., Cambridge, MA, USA (Unhelkar, V.V.; Perez-D'Arpino, C.; Shah, J.A.) \|\| Dept. of Aeronaut. & Astronaut., Massachusetts Inst. of Technol., Cambridge, MA, USA (Stirling, L.)
Abstract	Mobile, interactive robots that operate in human-centric 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 trajectories. 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 closed-loop 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 co-navigation.
Starting Page	6183
Ending Page	6190
File Size	691465
Page Count	8
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7140067
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Heuristic algorithms Prediction algorithms Legged locomotion Planning Dynamics
Content Type	Text
Resource Type	Article

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