3P2-N04 Remote Following Mobile Robot based on Walking Detection of Human using Wearable Whole Body Motion Sensor System(Sense, Motion and Measurement (3))

Abstract

In this paper, we propose a method of walking estimation using whole body motion sensor to realize human following robot. Velocity command generator for non-holonomic cart is constructed combining following 3 factors; walking state detection using frequency analysis of acceleration of legs, global body direction estimation using geomagnetic, acceleration, and gyro sensor, and leg velocity estimation based on standing phase detection.