Development of a walking-trajectory measurement system Online publication date: Mon, 04-Jul-2022
by Nina Tajima; Koichiro Kato; Eriko Okada; Nobuto Matsuhira; Kanako Amano; Yuka Kato
International Journal of Mechatronics and Automation (IJMA), Vol. 9, No. 3, 2022
Abstract: In Japan, where the labour force has decreased in recent years, robots have got a lot of attention to supplement the workforce. In the reception and response control system using the robot 'ApriPoco™', measuring the walking trajectory using a laser rangefinder has been studied, but it cannot measure accurately because the trajectory overlaps. In this paper, we propose a system that predicts trajectories in real-time using Gaussian process regression. We experimented by checking the operation of the non-real-time trajectory prediction system. The proposed system improved the probability of obtaining correct data from about 7.4% compared with the previous system. Based on this result, we conducted a demonstration experiment with a real-time prediction system. As a result, the number of coordinate data points was reduced, and the accuracy decreased. We aim to improve the accuracy of the real-time prediction system in the future.
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