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

Yukitoshi Minami Shiguematsu, Martim Brandao, Atsuo Takanishi

研究成果: Conference contribution

抄録

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.

元の言語English
ホスト出版物のタイトルProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ307-312
ページ数6
ISBN(電子版)9781538636152
DOI
出版物ステータスPublished - 2019 4 25
イベント2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
継続期間: 2019 1 142019 1 16

出版物シリーズ

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

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
France
Paris
期間19/1/1419/1/16

Fingerprint

walking
gait
robots
Kinematics
Robots
symmetry
kinematics
Torque
Cameras
Planning
planning
torque
Experiments
cameras
vibration

ASJC Scopus subject areas

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

これを引用

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. : 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

Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot. / Shiguematsu, Yukitoshi Minami; Brandao, Martim; Takanishi, Atsuo.

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 307-312 8700398 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

研究成果: Conference contribution

Shiguematsu, YM, Brandao, M & Takanishi, A 2019, Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot. : Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019., 8700398, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Institute of Electrical and Electronics Engineers Inc., pp. 307-312, 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, 19/1/14. https://doi.org/10.1109/SII.2019.8700398
Shiguematsu YM, Brandao M, Takanishi A. Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot. : Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 307-312. 8700398. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). https://doi.org/10.1109/SII.2019.8700398
Shiguematsu, Yukitoshi Minami ; Brandao, Martim ; Takanishi, Atsuo. / Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot. Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 307-312 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).
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