Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot

Yukitoshi Minami Shiguematsu, Martim Brandao, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Motivated by experiments showing that humans' localization performance changes with walking parameters, in this paper we explore the effects of walking gait on biped humanoid localization. We focus on walking style (normal and gallop) and gait symmetry (one side slower), and we assess the performance of visual odometry (VO) and kinematic odometry algorithms for the robot's localization. Changing the walking style from normal to gallop slightly improved the performance of the visual localization, which was related to a reduction in torques on the feet. Changing the gait temporal symmetry worsened the performance of the visual algorithms, which according to an analysis of inertial data, is related to an increase of mechanical vibrations and camera rotations. Both changes of gait style and symmetry decreased the performance of the kinematic localization, caused by the increase of vertical ground reaction forces, to which kinematic odometry is very sensitive. These observations support our claim that gait and footstep planning could be used to improve the performance of localization algorithms in the future.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages307-312
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - 2019 Apr 25
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: 2019 Jan 142019 Jan 16

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period19/1/1419/1/16

Keywords

  • Ego-motion
  • Humanoid robot
  • Kinematic odometry
  • Localization
  • Visual odometry
  • WABIAN-2R

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

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  • Cite this

    Shiguematsu, Y. M., Brandao, M., & Takanishi, A. (2019). Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 307-312). [8700398] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700398