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Generation of Human Walking Paths
Department of Automatic Control, Lund University, Lund, Sweden.ORCID-id: 0000-0002-1364-8127
Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy.
Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy.
2016 (engelsk)Inngår i: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 40, nr 1, s. 59-75Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This work investigates the way humans plan their paths in a goal-directed motion, assuming that a person acts as an optimal controller that plans the path minimizing a certain (unknown) cost function. Taking this viewpoint, the problem can be formulated as an inverse optimal control one, i.e., starting from control and state trajectories one wants to figure out the cost function used by a person while planning the path. The so-obtained model can be used to support the design of safe human–robot interaction systems, as well as to plan human-like paths for humanoid robots. To test the envisaged ideas, a set of walking paths of different volunteers were recorded using a motion capture facility. The collected data were used to compare two solutions to the inverse optimal control problem coming from the literature to a novel one. The obtained results, ranked using the discrete Fréchet distance, show the effectiveness of the proposed approach.

sted, utgiver, år, opplag, sider
United States: Springer US , 2016. Vol. 40, nr 1, s. 59-75
Emneord [en]
Optimal control, Human-like path planning, Human-centered design, Humanoid robots, Safe human-robot interaction
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Identifikatorer
URN: urn:nbn:se:mdh:diva-33790DOI: 10.1007/s10514-015-9443-2OAI: oai:DiVA.org:mdh-33790DiVA, id: diva2:1048551
Tilgjengelig fra: 2016-11-21 Laget: 2016-11-21 Sist oppdatert: 2017-10-17bibliografisk kontrollert

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