Title :
Human walk pitch extraction by robot vision - towards human robot synchronized walking based on neural oscillator entrainment
Author :
Okabe, Kosuke ; Mizoguchi, Hiroshi ; Maruyama, Daiki ; Hiraoka, Kazuyuki ; Shigehara, Takaomi ; Tanaka, Masaru ; Mishima, Takeshi
Author_Institution :
Dept. of Inf. & Comput. Sci., Saitama Univ., Japan
fDate :
31 Oct.-2 Nov. 2003
Abstract :
This paper presents a method to extract human walk pitch by robot vision. It is intended to be used for robot-human synchronized walking. Needless to say, in human-robot collaboration and interaction, synchronization between robot and human is crucial for safety, comfort, and sense of compatibility. It must be true even when a robot follows or accompanies its human master. In this work, the authors plan to realize the synchronization by utilizing entrainment of neural oscillator. A legged robot walks based upon self oscillation pattern generated by the oscillator without any stimulus. When the visually extracted human walk pitch data is fed into the neural oscillator as an external stimulus, the oscillator is entrained by the pitch data. In this paper the authors present both method and experiment to extract the walk pitch by tracking human heel. Experimental results support effectiveness of the method. Simulation on the entrainment of neural oscillator is also presented. In the simulation, experimentally extracted human walk pitch data is used as external stimulus. Simulation result demonstrates feasibility of the work.
Keywords :
human computer interaction; legged locomotion; robot vision; human walk pitch; human-robot collaboration; human-robot interaction; legged robot; neural oscillator; robot vision; robot-human synchronized walking; Collaborative work; Computer science; Data mining; Human robot interaction; Legged locomotion; Mechanical engineering; Oscillators; Robot sensing systems; Robot vision systems; Service robots;
Conference_Titel :
Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on
Print_ISBN :
0-7803-8136-X
DOI :
10.1109/ROMAN.2003.1251859