Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion
|Title||Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion|
|Publication Type||Conference Paper|
|Year of Publication||2020|
|Authors||Maroger, I, Stasse, O, Watier, B|
|Conference Name||Int. Conf. on Intelligent Robots and Systems (IROS)|
In order to fluidly perform complex tasks incollaboration with a human being, such as table handling,a humanoid robot has to recognize and adapt to human movements. To achieve such goals, a realistic model of the human locomotion that is computable on a robot is needed.In this paper, we focus on making a humanoid robot follow a human-like locomotion path. We mainly present two models of human walking which lead to compute an average trajectoryof the body center of mass from which a twist in the 2D planecan be deduced. Then the velocities generated by both modelsare used by a walking pattern generator to drive a real TALOS robot. To determine which of these models is the mostrealistic for a humanoid robot, we measure human walking paths with motion capture and compare them to the computedtrajectories.